1. They used to, but it was back in the 80's era.

2. Regardless of rotate or not, do careful inspections. My experience across a bunch of quattros at higher mileages is the front suspension wears first. Then it most commonly starts to chew up front inner tread. If you don't catch it, bye bye even a new set of tires in 5K miles. Ouch. I rotate mine automatically each snow/summer change cycle to keep all four wearing as evenly as possible. So every 4 to 8 K I am staring at them even if not underneath or up close for any other reason. Most Audis I have owned, quattro or not, also wear fronts faster overall. I never want to buy two only, so moving around keeps them even all the way down to run them out to like 2/32 late summer in (dry) CA if timing goes right w/ the seasons. My W12 is an exception for me where it goes more evenly; may have to do with the higher torque and fun factor, even w/ more weight over the front.

3. Do not assume by a wide margin they remove wheels to inspect brakes. In fact, starting with A5 platform which begat Q5, they specifically built an access hole into the Q5 rear calipers to be able to read pad thickness with a tool. And guess what, wheels then stay on...