Sorry to read your issues.
I have had a Q6 Launch Edition since day one and have had no end of faults, faults that Audi to this day still have not resolved, some minor some dangerous, slamming on the brakes doing an emergency stop for no reason, called a ghosting effort on the sensors or headlights that do not turn on to traffic speed signs not being recognised so you can not use ACC, the dealer has been great but close to one year of ownership not a single fault raised has been resolved and there is a lot more then I have mentioned.
We have had the same issue as you but got around this by locking the car, walking away for 15 minutes, going back and trying again and all worked like nothing had happened, fault has not happened again, dealer looked and no faults show on the car.
My advise to anyone looking at a Q6 or the new A4 is don't, they car has issues and until Audi resolve them look else where.
If you do own one, take video footage of the issues as the car will report no faults to prove the fault, Audi claim if the car says no fault then the fault did not happen.
Will not be an Audi owner once this car goes, they charge more then any of the others in the group but the cars are the most unreliable.
Family member has the 2025 Skoda Enyaq VRS and has not had a single issue.
Keep us updated with what your dealer claims.