If it helps understand context, when you clear codes in ECU, it initially goes to "not ready." A guess is when they reflash, they then clear codes. Sort of SOP. But frankly, probably a pretty easy way dealer recognizes something may be going on if you brought it to them right after. Thus, if flashing for dealer service or warranty in future, keep in mind to do it at least several days and some miles ahead of time. I also now look at readiness codes when/if scanning a used car. If it reads not ready, antennae way up something may be going on w/ car that is being concealed with a recent code clear.
Meantime, yes there are driving cycles to basically accelerate the readiness code reset. It varies by model and motor. Deep web searches can sometimes find them--some from Audi, some from diagnostic tool providers like SnapOn. The hardest readiness code to reset in my experience is the secondary air injection. That may take up to two cold hot cold cycles. As in, car has to cool off all day or overnight. For the other ones, if you basically go for about a 30 minute drive, including some freeway, they typically reset as long as nothing is wrong with the emissions equipment. The reference to the cruise control is one where it needs a steady engine speed (around 2000 RPM when I was doing it on my D3). Variously it is doing things like cycling the EGR, checking the vapor system by closing some valves, and testing the cats via pre and post sensor comparisons. None involve hard acceleration or high RPM's. More the opposite--steadier speeds, not really working motor. Most test warm, but SAI needs the cold starts.
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