It could be your inner and outer tie rod end. I won't be surprised if you need to change the control arms, Audi control arms are aluminium (weak stuff) they will bend with any-given impact.
Based on what you have given Iamguessing the point of impact was you bottom portion of the wheel (including your tire and rims). This would flex your upper two control arms outwards and lower two control arms inwards resulting in stretching your tie rods out, buckling rightwhere the outter Tie rod bolts on the inner Tie Rod.
If tie roddid stretch out than thereis a slimchances thatyour rack and pnion seal would have been damaged. How to determin that is first your steering would be harder andcheck forfluid leak.
Control arm kits sells for about$300 (this includes 8 control arms and 2 outter Tie rods and the inner tie rod sells for about $60 pair both of these are available on ebay.Search for "Audi Control Arms" and " Audi inner Tie Rod" if not than try www.audicarparts.com
Good luck. If you need help with installation instruction let me know, I'll post some infor from my bently. Its very easy to replace control arms and tie rods. If you choose to do it yourself.