HI, I'm having a similar issue on my B7 and this seems to be a thread that is looking at similar issues, so I hope you don't mind me hopping on it!
So today randomly by reverse beeping cut out. It may be unconnected but it happened shortly after connecting my phone to bluetooth (I disconnected it a couple of years ago as I was going to sell the car, but never got around to that, and never got around to reconnecting bluetooth!)
I've checked and reverse lights come on, so I believe that means the reverse switch is working. When put in reverse, I can feel vibration on each of the four reverse sensors. But there is no beep, not even a beep at the start to tell you that you have selected reverse. Does anyone have any ideas of what to test to narrow this down.
Or alternatively, what do you check on VCDS (I have an old copy somewhere!)
Thanks in advance to any assistance!