2020 AUDI A6 Forward Collision Avoidance Warnings Problems

The Audi presense system works intermittently. While under warranty I told the dealer the system wasn't working and they claimed that I must have hit something and would have to pay approximately $4,000 to realign the system. I refused to pay to realign/adjust the system since it was under warranty. I contacted the Audi customer advocate department who said they rely on the dealer to identify the issue and fix it, and since they said it may be related to an impact they could not do anything. I continued to drive the car and in the midst of a summer downpour sometime in 2022 the system corrected itself. I once again told the dealer what happened however they said there was nothing for them to diagnose. The system worked as should until October 2022 when it started to show a message saying system malfunction. I followed the car manual recommendation...

Various components and system malfunctioned. Vehicle is in dealership for 3rd time on electrical/software/hardware troubles, SOS module. Yes, the vehicle is available for inspection. The car stopped me on a major highway thinking that I was not available "Emergency Assist, Driver take over the wheel" when I had both hands on the wheel, going straight and was fully in control of the vehicle. The car slowed down from 70 mph and the trailing truck behind me almost rear ended me. Yes, the problem has been confirmed by the dealer. The vehicle and components are being inspected/serviced at the Fort Collins Audi dealer. Yes, warning messages as well as the vehicle pumping on the break and jerking the seat belt. These started in Jun 2021 at 1400 miles and continued to the time I turned in the vehicle on 19 Oct 2021 at approx 13500 miles. I am attaching an 11...