If your're serious about keeping the car, I concur with the previous response about the importance of developing a relationship with a trustworthy and competent mechanic familiar with Audi. Ask other Audi drivers for recommended shops and/or mechanics in your area. Nurture that relationship with the mechanic - take him a 6-pack or a bottle of wine. Remember him at Xmas.
In life one needs an honest MD and an honest mechanic.
In terms of all cars, yes. In terms of German cars and high end automobiles than no. It is cheaper to fix than a BMW or Mercedes but more expensive than a Nissan, Toyota etc, This is what comes along with luxury cars.
It should also be taken into account that your car is more than 13 years old and at this time, more expensive parts break.
You should also make sure you have a trustworthy mechanic. If you go to the Audi dealer they are going to be MUCH more expensive and they will want to fix every little thing.