Hi, I have the same issue ad blue error no restart in 650, I have done a lot of googling and found that Audi offer Audi Extended Emissions Warranty for up to 10 years/120k, has anyone used this?
https://www.audiwarrington.com/blog/2019/november/26/audi-extended-emissions-warranty-an-overview.htm#:~:text=Post emissions modified vehicles can,from the date of modification.