I think I figured it out! First off, it's not called "High beam" in the MMI menu (I have 2018 RS3). It's just called "Automatic headlights" (early/middle/late) and "Headlights assistance" (on/off). The sub-menu is in the exact same position as the screenshot above, so it must be the same, just no mention of "high beam". I was kind of furious before I figured it out, because I got the driver assist package specifically to get all the high-tech features, and it would've sucked if I didn't get the high beam assist feature. Must be the new version of MMI firmware, as I do have the subwoofer controls.
Secondly, you have to keep the "dial" to the left of your steering wheel on "Auto"!! I think that's the key to get the high beam assist to work. If you force it to go all the way to the "headlights on" mode, the "Auto" mode for high beams never shows up on the dash. If you keep the dial on "Auto" and then push the turn indicator stalk to toggle the high beams, you get "Auto" under the high beam icon on the dash (gray when it's off, blue when it turns on). I haven't tried it yet on the road though, so would love if someone can confirm?
TLDR; Make sure to keep the headlights switch on "Auto" to get high beam assist to work (if you have it).
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