Itcould be that the seal has withered and the flap is not operating correctly. If your handy with the car, take the EGR and connecting unit off, inspect and if dirty clean with some EGR cleaner and a toothbrush. You can replace the units and see if the code clears ( you'll need a scanner that can clear the OBD fault code ).
Howto find Audi engine code March 2, 2016 in Audi A3 8L (1996 to 2003), Audi A4 B5 (1994 to 2001), Audi A4 B6 (2000 to 2006), Audi A6 C5 (1997 to 2005), AudiEngine; Audi Exhaust; Audi Exterior Body; Audi Fuel System Parts; Audi Interior Body; DSG Transmission Specs, Details, & Codes 5. VW/Audi Models & Years That Can Be Equipped With A DSG Transmission 6. Common Problems Of The DSG Transmission 7. 2010-2015 B8 Audi RS5: 2007-2010 Volkswagen Eos 2.0t . 261 104 226 213 36 271 316 407