How was your issue resolved? I have the same error message. Mine came after long drive in rain, then charging at lamppost. Charged stopped automatically 2/3 full rather than continue to 100% as usual, but car then showed error messages and wouldn’t start at all. Mobile EV mechanic has changed 12v battery which means car starts (but direct to Ice which is unusual) but error messages still there and car won’t actually go forward or back when D or R engaged - he says the EV system and ICe motor aren’t talking to each other properly. All these problems came after - for the first time ever - I got into the ‘red’ on both electric and petrol fuel gauges, although it was still saying 60 miles range left. I think I have exactly the same car as you - a 2015 e-tron. Mine is out of warranty so hoping it’s not the dreaded EV battery!