So I went to Home Depot to find a screw that would work. I knew Audi would charge more than the cost of gold per weight for the little tiny screw. So I was fortunate and found screws that would fit
Screws: M4 x 6mm
Spacers: M4
The total cost was just a tad over $1 for 3 screws and 4 washers. It's super easy to replace and/or tightened the OEM ones. I highly recommend you guys check yours. To make the front screw (one closest to the hinge) more accessible, open the door as wide as possible and use a short Philips-head screwdriver.
What to buy:

OEM Screw:

Replacement Screw:

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