yea my friend got a 2002 3.0 he had the same problem like you execpt his car was at 45k.
i dunno about you guys but i think audi dealers b-s with breaks i had mine squeeking once the pads get really hot like driving it longer then an hour or so. dealer told me "they are spossed to squeek because it is mettallic brake pads." it kinda made me mad squeeking brakes for an audi........

 

Yeah definately sounds like warped rotors... if you are driving them hard enough to warp them, I'd try and upgrade... get a set of pads and rotors that are more performance oriented, and less likely to warp in the future... you could warp rotors on a brand new car, so if they lasted 15K miles of hard driving... then be happy.
My car had cheap rotors and OEM pads when I first bought it... brand spanking new rotors (just cheap)... I knew the guy just slapped on cheapies to sell the car... but I figured I'd deal with it whenever... they were warped and garbabe in 10K miles. I dealt with them warped for like 3K miles... and just over this past weekend did the A8 brake upgrade. Hopefully you can figure something out to accomodate your driving style!

 

Also dont assume that its the front brakes causing the problem

Just lift up the e-brake to see if its the rear or not

 

yea thats a good call... i tried that out they seem fine, definatly seems to be the front rotors. gona have to make the investment sadly... should this be covered under warentee?

 

Well thats the 10k dollar question

Most likley not, but if you nag them enough you might get it covered

Basicly under normal conditions Audi says the rotors shouldnt become warped

 

looks like thats what im going to have to do... my mom had constantly warping rotors in her allroad and they replaced them at least 4 times. they wernt happy to say the least but they still covered it amazingly.

 

How long ago was that

Cause this has all changed in the last 8 months from replacing rotors all the time under warranty and now never at all

 

well that answers it... it was about 1-2 years ago, that sucks