Hi Carlos, Sam,
I have the same issue with my A3. It started 2-3 weeks ago.
I went to the garage (not Audi's one), "our" mechanic guy checked with his computer but didn't see anything really... he just resetted some settings.
The light was then (fully) off but it came back after a day...
Did you solve the issue on your cars? And if so, how it was solved?
Thanks!
Dominique