Brakes that work properly are incredibly important, so make sure not to wait on getting them checked out!
Generally, Audi’s warranty should cover any non-wear-and-tear-related brake issues for four years or 50,000 miles. Most warranties don’t cover things like brake pads, though, as they’re something that naturally wears down as a car ages. Brake issues that are caused by things like road damage or lack of maintenance are also not likely to be covered.
Once the new car warranty expires, Audi does offer a few different kinds of extended warranties—a few of which have coverage for brake pads and rotors.