My 2017 A4 had exactly the same symptoms. If you can scan for fault codes there will probably be B109207 for a faulty recirculation flap motor. Mine was sorted under an Audi All In extended warranty so I don't know what the cost of the repair would be.
Looks like I will be needing a new clutch soon. Quotes received so far to supply and fit are from around £2,000 to £2,800 apparently as the parts are only available for Audi directly. Does anyone know if this is correct? It seems strange that there would be no aftermarket option for a car that's been around for 7 years.
A few weeks before the brake servo sensor failed on my A4 the stop/start stopped working and the aircon would cut in and out. There was a fault code stored, something to do with the engine requesting the compressor be shut down. All cleared up after the servo sensor was replaced. Worth investigating perhaps?