Hi, I have an SQ5 with drive select, there is only an engine noise option in settings…that should change the exhaust noise. If that is set to dynamic and there is no change in exhaust sound, then there is a fault. Most likely to be acuator (speaker) issue in one or both of the exhaust. I have literally just had this fault, thankfully had Audi extended warranty which covered it as they had to replace both back sections! It wouldn’t have been cheap otherwise. Worth getting it plugged in an see what codes are there