Over about four years, my 96 A4Q V6 had the same problem several times. The
first time, I took it to the dealer, they said it was a bad light assembly and
replaced it under warranty. The other two times, I took it to a private shop,
they couldn't find anything wrong and reset the light using their special
computer tool. I figured the dealer replaced the light assembly only because
they couldn't think of anything else to do.
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