I've only had our 2023 S5 for a few months, and am still learning about its intricacies. For some reason, until this past week or so, I never really noticed the yellow Pre-Sense Warning icon's appearance that lingers for several (or more) seconds longer at start-up than the other warning lights. From the manual, I knew the icon was associated with the Pre-Sense system, and a search here on AZ only resulted in this one thread that made some mention of this icon. The thread didn't really answer my question of why the warning's appearance was slow to extinguish compared to the other start up icons.

Because I wasn't sure why the Pre-Sense Warning indicator was not immediately turning off once the engine was started I decided to clean all the cameras and sensors on the front of the car to see if bug splatters or road film on them was somehow implicated. That effort didn't help so I went back to searching the web to see what else I could find. Fortunately, I found the following YT video by Eric at Audi Royal Oak that explains more about this virtual cockpit's Pre-Sense warning. If you've wondered about the somewhat unusual behavior of this specific warning light, this should help ease your concerns.