I take my B5 down a dirt road that is nothing but washboard daily to get to and from my house, my Audi has done some light off roading, Climbing smaller hills, sand and shallow creeks. Quattro does a good job just watch out for ground clearance. Also in greasy mud the front end sways from side to side a little if it is an uneven hill.
Hi, it's true it's not the tallest car, but I never had any problem at doing mild offroading. To go to my chalet I have to do a couple of miles on a quite bad road (it's flat though). Being careful to avoid big holes and stones I've always managed to get there without damages