I drive an S5 and I am in a similar situation as you when it comes to yearly mileage. Actually, even worse. I just walk to work nowadays because work is that close to home. My annual mileage is now down to 6,000 kms (3,800 miles). I just purchased Audi Care because I plan to go through the scheduled maintenance items annually regardless of mileage. Even if I do just regular oil changes at Audi every year, it will cost close to the price of Audi Care by the end of year #5 (the first year being free) especially if you add in the S-Tronic tranny flush/fill service. I know that doing oil changes at an indy shop will be cheaper but I do not want to go through an eye of a needle with Audi in case I need to have warranty work done on my car.
When I owned a 2011 VW GTI, I drive a similar mileage too. I just did my yearly oil change, brake fluid flush/fill every two years, DSG oil change on a time schedule. The major and minor services (mostly checks anyway), I do based on mileage. I never had any problems claiming any warranty work because the VW dealer knew my car well even it I only did annual oil changes and the other time-sensitive fluid changes. But, I have heard Audi to be quite strict when it comes to the maintenance and service schedules. With the price of Audi parts and labour, I do not want to risk running into problems with Audi. This is the reason why I changed my service and maintenance routine for my S5.
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