Im also under the impression that the Audi warranty is for "corrosion perforation" meaning that it has to be a hole in the panel or similar problem.
To me it's a catch 22, as you have to wait for the corrosion to get bad enough to have the warranty apply, yet if you do this and it is denied, you've missed the opportunity to have it corrected early on when it was not a big issue.
FWIW Mercedes Benz offers no extended corrosion warranty beyond the typical 36 months (or whatever the standard warranty was). My parents have an 02 ML500 and it developed rust problems on the doorjams and hatch, surface rust, but it was progressing quickly. I took it to MB, argued that it was unacceptable (even though the car was clearly outside any warranty period with some 90,000 miles) and managed to get them to pay for half the repair bill. The repairs were about $900, so it was significant. Take some pictures of the rust, show them to Audi, and give it your best shot. You can always argue that it'll only get worse and then Audi will be on the hook, but I'd just voice the concern and lightly pressure them into taking at least some responsibility. Being nice about it gets you a lot further than being an ass, in my experience anyway. If you plan to keep the car for a while you really should get it repaired, especially before winter, as rust is a problem that only gets worse and WILL NOT go away if left untreated.
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