You might have air in the ABS unit. First, be sure your master cylinder is good and not the source of the soft pedal you are feeling. If you are still getting air in the right rear and cannot bleed it out you may have an ABS problem although this is pretty rare in my experience, and never with an Audi (so I have no direct Audi ABS brake experience). If the Audi system is like most other braking systems, during most braking situations the ABS is electrically active but not hydraulically active. When it becomes hydraulically active a pump, responding to the control unit which is detecting a difference in deceleration between the wheels, opens and closes valves depriving the wheel that is locking up (decelerating the quickest) of pressure so that it assumes the same angular velocity as the other wheels. This is very interactive and happens quickly, maybe 10 times per second.
Not to get too technical but if the valve to the right rear is stuck open that might provide a source of air into that line and result in a spongy brake pedal.
One suggestion that may work is to take the car out and force the ABS to function multiple times. Do this by driving so that the right side of the car is on grass or gravel and the left on solid roadway. At speeds well above 10 mph engage in very heavy braking forcing the right side ABS valves to activate. Do this multiple times. This may unstick the valve(s) if this is the problem. It may not work but is worth a try. After you do this braking exercise, bleed the right rear to see if you can now get all the air out of this line. Bleed them the old fashion way (with two people) so you can be sure the power bleeder is not sucking air into the system through a stuck valve.
If you find that the source of you problem is the ABS unit and can't fix it you might be stuck replacing it. Possibly a good thing to buy from a reputable used parts dealer as these typically do not go bad.
I hope this is helpful to you and good luck. Very frustrating I know. Brillo
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