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There are many pieces involved with this error. You need to pull the codes from the computer to know for sure.
There is a sensor, typically under the rad support, from bottom of vehicle, this component suffers road salt and moisture damage.... check it carefully and if corroded, replace the wiring harness stub also, so everything at the connection is new.
A4s are known for airbag lights due to the bag in the side of the driver's seat. The yellow connector under the seat gets stretched and opens up partially if you move the seat too far. It's just a quick opening but it's enough to trip the light. In mine, I ziptied the connector tightly together, then turned off the light (you need the VagCom diagnostic software for this).
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