Warnings problems of the 2020 Audi A6

The Audi presense system works intermittently. While under warranty I told the dealer the system wasn't working and they claimed that I must have hit something and would have to pay approximately $4,000 to realign the system. I refused to pay to realign/adjust the system since it was under warranty. I contacted the Audi customer advocate department who said they rely on the dealer to identify the issue and fix it, and since they said it may be related to an impact they could not do anything. I continued to drive the car and in the midst of a summer downpour sometime in 2022 the system corrected itself. I once again told the dealer what happened however they said there was nothing for them to diagnose. The system worked as should until October 2022 when it started to show a message saying system malfunction. I followed the car manual recommendation and washed all of the sensors however that did not solve the issue. I once again spoke with the dealer who said often times there's a moisture buildup in the location of the windshield mounted sensors. There's no way to get to the sensor and I asked them to clean it under warranty. The dealership once again refused to address the issue. I once again called the customer advocate department at Audi USA however they refused because I have just exceeded the 50,000 mile warranty. I noted that the issue has been ongoing and Audi never solved the issue. I purchased the auto because of the safety features it came equipped with. I'm asking them to resolve the original issue as identified while under warranty.