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Dynamic range control is faulty

Came up yesterday twice without the lights being on and went, later the same message re appeared with the lights on anyone had this fault? In all came on 4 times over a 3 hour journey.
Is it a loose connection etc something you can fix yourself, or is it main dealer only?
Audi want a large sum of money to plug the computer in to tell me what's casing the fault. There technical bod didn't have a clue what I was on about and sounded confused, and couldn't be drawn on the subjec.

After speaking with various Audi dealerships, all of who didn't have a clue and wanted to charge at least an hours labour + the VAT to plug the laptop in and gave me bullshit like "best get it in ASAP as your lights could fail"?

I spoke to an independent who knew instantly what causes the fault, there is a motor situated by the nearside front wheel that corrects the head light level on all S4 V8's, as they have gas discharge head lights (apparently this is a standard VAG thing on all car's with gas discharge head lights to prevent dazzle).
The motor can fail/seize and it gives the fault mentioned, a simple fix that anyone could do and every main dealer should know!!!!!