The car steers fine at slow speeds but gets stiffer and stiffer as you pick up speed. No codes shown when brought to the Audi Dealer. They drove and said it was normal but obviously didnt drive it fast enough. Im getting sore shoulders from road trips!

 

"Servotronic" (speed sensitive steering) is supposed to decrease the boost with speed...easiest steering at stand still and increasingly stiffer at higher speeds. BUT sounds like it's overdoing it in your case...it's controlled by a removable valve on the steering rack (rack has to be removed to access it, though) that's electrically controlled by signals from the ECU.
The valve can be checked electrically from the valve's relay receptacle in the car. Bentley has the procedure and the dealer should know how to test it also.

 

So it could possibly be the ICU, a relay or the valve itself, correct?

 

Yes...first test would be simple electrical test at relay receptacle...that would (could) eliminate faulty valve...then relay itself, if good then signal from ECU. Not as likely, but theoretically possible would be rack or pump, BUT if you get full boost at idle..NOT likely a problem there.