Reliability wise, the only "Safe" option secondhand is the manual - generally the most you ever need with one is a relatively cheap clutch fix.
Audi have definitely improved reliability in the last couple of years, but there is a reasonable chance you can get unlucky the older you get. If you are, the fix can be extremely expensive. A new DSG/Stronic box is £12k.
- With ALL autos you need FSH and make sure the oil changes are done. If not, walk away.
- Test drive from cold and when warm. gear changes should be seamless. Any shunting at any speed, especially low speed changing between forward/reverse and Neutral-1st-2nd: Walk away.
- DSG/Stronic will have a small hesitation in situations when pulling away fast from a junction - this is normal