$70 to pull codes may be reasonable at an Audi dealer but you'd be better off to get an Ebay cable and the Ross Tech software so you can read them (and reset them) yourself. All it takes is a $20 and a lap top or a computer with a long USB cord.

 

Alright, well I figured out whats wrong with the brakes. At some point, someone put new pads on the car, but did not turn the rotors. The pads didn't seat well and are wearing unevenly. I believe I just need to replace the pads (worn unevenly) turn the rotors, and bleed/flush the fluid. My Bentley manual says I need a special tool for bleeding these brakes (ABS), tell me that's not true!!

 

Check those rotors first. Every rotor on an Audi is already too thin and usually cannot be turned.

 

I never had a problem with pads not seating properly when using new or old rotors.. Uneven wear usually means you have a hung caliper.

 

You need a pressure bleeder of some sort. I never, ever had luck with bleeding ABS brakes with old style, pump the pedal way. The best choice is a full size pressure bleeder like Motive powerbleeder. But it is expensive. I have a Mityvac handpump style bleeder and it works fine.

BTW, how are the pads wearing unevenly?