Dampness on the wooden board usually means one of Audi's little Easter eggs called 'Botang's hole' is leaking. The grey bit in the top right here:
http://forum.a8parts.co.uk/showthread.php?t=7645&page=2
The HVAC drains can do it too but you often hear a sloshing sound as the water in the heater box moves around. If you run the AC for a while while stationary do you get a puddle under the car? I'll have the console side panels off mine this afternoon so I'll post a pic of where the drain valves are. Its worth taking them off and cleaning them out anyway although if it is full of water then have a bowl or bucket handy for when you take them out.
Cabin lights is a tricky one since they all run from the same circuit. You'll probably need to spend some time with the wiring diagrams and a multimeter to figure that one out.
Do you get the indication in the dash when the rear doors are open? If not then the switches are likely the problem with the interior light. I think they are in the door lock mechs in the D2 iirc.
VCDS should tell you whats up with the parking sensors. Likely there is a bad connection on one or more sensors front and rear, or they could have moisture in them.
You're probably right on the rear window. Sort the HVAC drains and Botang's hole and get a dehumidifier in it for a few days and hopefully that will improve.