I had a similar situation with a Jaguar ,only it was about 18 months into a 3 year PCP.
Based on my experience, I would suggest that you approach an Audi dealer and get a figure they would offer you for your car and get them to find out the settlement figure on your lease. I would then ring the customer services department of VAG finance and explain your situation and tell them how much of a shortfall you have. You may find that they might offer you something as a special allowance.
I did that with Jaguar as there was a shortfall of about £3000 on my car. Jaguar contacted the dealer, they took my car back and Jaguar Finance wrote of the balance as good will.
Its worth a try and good luck.