I've heard of mixed things with mirror taps in our cars from installers. Since there are so many sensors in the mirror, apparently using the same cables to power other aftermarket components out of the mirror can cause error messages. I'm sure you'll find people running a mirror tap without issue, but I decided not to risk it, especially since I had fuse taps ready from my dash cam install on my prior car. YMMV.
I hardwired my dash cam to my fuse box using fuse taps and ran most of the cable tucked into the headliner and down the edge of the A pillar. Unfortunately it's a PITA to route a cable through the dash and I didn't want it to interfere with the airbag by running cable behind it, so a small portion of the cable goes over the corner of the dash on the driver's side where it meets the A pillar. I don't even notice it so I just left it as is rather than scraping the hell out of my hands trying to route it through the dash.
I can't remember exactly which guides I used, but if you google most B8 or B8.5 A4 or Q5 dash cam install you'll find a lot of info about which rows of fuses to use.
The basics about the fuse taps and general info you can find here:
https://www.blackboxmycar.com/pages/hardwiring-fusebox
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