I have the same issue. It mainly happens to my Q5 when I'm braking from 25 mphish - 0mph(even if the braking is slow or gradual). Especially if I'm in a drive thru or bad traffic.
I contacted Audi of America and they said it is a common issue and normal for Audis. They stated that the brakes would not be under warranty unless it was a really bad issue related to a production flaw. I provided them with a Recall TSB #, but they said our vehicles don't qualify for that. However, you may get lucky at the dealer if they are prepared to write off the cost themselves. So, AoA won't help, but a dealership may if they value your business.
Since the brakes on our Q5s are Brembo, this is a common complaint about Brembo brake kits. They tend to get loud at low speeds, but work great at high speeds.
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