Just to be safe, I’d change them.
Audi’s recommendations are based on mileage as well as time for most items. Their main service intervals list time as well as mileage but they don’t necessarily specify that for each individual fluid. Fluids can degrade over time due to condensation/water contamination and outgassing. Just how bad do any of the transmission fluids get over a period of sitting stagnant for years? Dunno honestly, you’d have to send them out for testing. But it’s relatively inexpensive insurance to swap them out vs. developing an issue to fluids which are out of specification. Plus you’ll know they’ve been done and hopefully done correctly.
Short version, you can’t hurt anything by swapping the fluids out. The MTF side of the transmission is sealed, the ATF side does have a vent. On the rear diff, it’s sealed as well but you’re already at 17K miles on those fluids plus time.
The rear differential is fairly easy to change. I’d say, at the very least, change that but the other stuff can wait until fall. If your car is shifting erratically or what you deem to be “not normal” then I’d consider changing the fluid sooner than later. If you’re planning on doing track days, I’d definitely change the fluid all around.

