People say this is common fault, which I believe it is. But Audi have had no recalls.
I also have this exact problem, intermittent readings. It just got to the point were I purchased a new sensor from Audi. This location is under the rear seat. So any kind of sitting or things on the back seat, I noticed stoped my sensors.
Mine read sensor 2 problem, if the car can be filled up and the fuel pump still pushed the fuel to the engine. It’s the same part I purchased from Audi. It was around £80 and I think it’s the part for the sender unit under my rear seats near the fuel tank.
haven’t had this installed yet, I’m sure I can do this myself to be honest. But I’m positive this will fully fix my problem.
Hope this helps