Those scanners don't read the ABS or SRS system. The stealerships have VAG-COM, if they tell you its the abs module then more than likely it is the module. Find someone with VAG-COM to confirm it. The bosch ABS module is infamous on audis. If your abs and brake light is on I'd bet the house on a faulty module.

 

The VAG scanners read the error codes for all four computers;
ECU
SRS
ABS
Transmission

 

I am having the same problem but its when I make right turns in the morning,that sets the light and the beeping off. Thing is when the day and car warm up it stops? Anyone ever had this happen?