2011 Audi A8 Quattro Questions

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I am hearing it at times I am applying brakes. Also, there is a light coming on and I am getting a message about gear control malfunction? Does that have to do with brakes or brake pads?
The AC button will not stay on in order to keep the vehicle cool
My warranty company denied paying a claim to replace my cam position sensors because the emissions control system is not covered under my warranty. Is the cam position sensor a part of the emissions system?
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