I hope it has not failed - since as Richardracer says, the engine has to come out. On mine I noticed a noise and vibration in the steering wheel just before my audi approved warrantee ran out. Audi diagnosed it as failed and replaced it. A few weeks later and I would have been looking at a large bill...
Failure is not uncommon but I have also heard of fluid leaks on these cars too. Fluid leaks are normally a easier and much cheaper scenario to remedy.
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2012 A6 3.0 TDI Avant, Silver, 7 Spd STronic, Bose, ACC, Advanced Parking Camera, Power close / open tailgate, Side and Lane Assist, AMI & Jukebox, Adaptive lights with corner and high beam assist, Through load with ski bag, Audi pre sense plus, sports diff and sport suspension, Panoramic roof, Storage pack, MMI touchpad and VIM, etc. Oh and now retro fit rear seat entertainment 
2019 BMW I3. Heat pump, Winter, professional and comfort packs, Harmon Kardon, autopilot
2022 Mercedes EQC 400
Previously: 2009 S8, Silver, B&O, Ceramic Brakes, Advanced Parking Camera, VCDS
2008 A8 3.0 Tdi sport, B&O
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