rear dif
The best way to check if your brakes are dragging is on the road, put your car in neutral and let it coast without gas or brakes. If it coasts like normal you might have a misfire and not realize it giving you sluggish feeling performance.
If your brakes are dragging you should definitely be able to smell the pads heating up. How much pad life do you have remaining? Any sign of heat, light smoke out of the rear wheels after a long drive?
You should also be able to open the driver door and push and roll your Audi a bit on flat pavement, for a simple test.
I had this issue on one of my UrS4s before Christmas and it was the left rear caliper. I didn't have time to change it so I removed it, removed the Ebrake cable and got the ebrake cam back to its OFF position, I used a caliper piston tool to turn the piston back out a bit and then reassembled with the eBrake cable OFF the caliper. I have bought a new caliper but I haven't put it on the car yet. (On the list of things to do)
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