WARNING: This page is about a different car, the 2022 Audi SQ7 and 2022 Audi Q7. However, it is still accessible from the selected car via links, so may be relevant.
Courtesy of AUDI OF AMERICA, LLC
-- Fold the center armrest up.
-- Grip the cupholder -1- at the positions shown in the image -arrows- and pull upward.