Need help figure this out and cost and where to go .

I think you need another scan with vcds or vagcom or delphi . First 2 are audi dedictated and delphi is also known to be good. 

Once the scan is done reset the fault codes and scan again to see if they come back . Then you will have a clear picture what is wrong . 

Does the car drives fine ? 

Yes the car drives fine maybe a little rattle went you start the car and sometimes red battery light comes up and start stop deactivated but not on all the time at all .this what comes up on the dashboard am taking it  to the Audi garage as one place saying to fix all at £1000 for the fix.

I would start from the battery first and also check if the alternator is working . Low voltage can cause lots off issues and error coded. 

Audi garage is a good move . They chnage around £60 per hour for diagnostics