Put the car on jack stands and look for a bent wheel or bent suspension parts. Next, have the alignment checked at a tire store. If they are unable to do the alignment, they will be able to give you an estimate of the repairs required.
Next, compare their estimate with your personal inspection. Beware that the estimate is written by a sales person with a computer program, and may list parts that were not damaged.
Find the Audi suspension part numbers at www.vagcat.com