Audi quote 4 hours for 2.
3.5 hours for 1.

We give the customer the option & our experience of this fault ( the other runner isn't far behind wear wise ).

Incredible how many have one replaced then sell the vehicle.

The fault usually logs when free play is evident in the link rod ball joint - if you work the linkage by hand from the runners motor end of the linkage, you can see the rod trying to move laterally off the ball joint on the manifold flap linkage. This minute extra travel is what the ECU identifies as an incorrect stop.
In the worst case I've seen the rods had disconnected at the manifold ball joint.

If using VCDS, the runners can usually be operated in an output test - if the fault is logged in the memory, the worn one will not operate.
Cycling the ignition also operates the runner motors as a self check sequence.