I solved this by thinking about the offset pedals and footrest. I had set up the seat as if I was driving my old manual gear car.
I pulled the seat forward so my left foot rested lightly on the footrest and then adjusted the upright back of the seat accordingly. I also put the horizontal part of the seat to its flattest position.
It took me the first 500 miles of driving and this forum to find that solution. A car this expensive should be plug-and-play on seat adjustment, so Audi needs to raise its game.
My only gripe now is that the depth of the horizontal part of the seat is a wee bit too short and can stress my hamstrings on a long journey (500 miles plus). Since I'm only 168cm tall I wonder how taller people cope?