Curious, you have a lot of text about your car, but not the model year. Though 2011 or 2012 is a certain guess given avant and ZF8.
By "S4 seats", I presume you mean S sport seats, with the fixed headrest? Though it seems the seat adjustment electronics are common across the standard, sport, and S sport seats in the 8K.
https://audi.7zap.com/en/usa/audi+a4.../9/959-959020/
We see the rake/tilt motor (2), the height motor (3), the backrest motor (4), and the longitudinal motor integrated with the seat rails (1). It refers to the different page:
https://audi.7zap.com/en/usa/audi+a4.../8/881-881010/
Item 6. So different parts for left and right, but the same part for the three different style of seats. But since the motor is integrated, that's certainly a larger task than just a motor swap.
https://audi.7zap.com/en/usa/audi+a4.../9/971-972012/
Here we see the wiring harness for the motors. Are these seats memory equipped? If memory equipped, the motors are connected to the memory control module. If not memory equipped, they are driven directly by the toggle switches. It could be the toggle switch has a bad contact. If memory equipped, you should be able to monitor the activation of the switches and check for DTCs in the memory seat control module (address 36).
I don't have any idea how you'd move the seat manually, such as if it was unpowered, or just not working as in your case.
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