While the Motronic system is quite intelligent, it isn't perfect. Sensors don't always trigger MIL/CEL, etc. A variety of things can cause richness, such as a vacuum leak or boost leak. For instance, your car reads a certain amount of air coming into the engine intake path via the MAF sensor. If there is a leak before this reaches the cylinder for combustion, then you will have excess fuel for the amount of air the engine originally saw.
A bad MAF sensor doesn't usually throw a code, and cleaning them doesn't do much usually in my experience. Possibly try to temporarily switch MAF sensors with another S4 owner who has a known good MAF. If the MAF is reading more air then there is, rich. Bad O2 sensors reading your exhaust stream as being leaner then it is will cause enrichment, but if you are experiencing it on both banks, it is more likely to be something else. Spark plugs and coils can definitely be culprits as well.
Pressure test the car and try a new MAF sensor. We can always do some tweaking on the tune.
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