Maybe add your situation to:
https://www.carcomplaints.com/Audi/Q5/2014/
"The worst models are the 2015 A3, 2014 Q5, 2017 Q7, 2011 A4, and the 2013 A4."
(5 recalls and lots of TSBs, but I didn't see anything about the steering shaft itself.)
Failed after 10 years..is power steering pump not working, needs new fluid, or tie rod/ball joints stiff?
Something that puts added stress on the shaft?