We've (RPI Equipped) done a couple clutches on those B8 A4's already. You very well could need a new clutch, but it's impossible to figure that out from reading text on a forum. You can bring it by the shop and we can check it out. You also could just not be used to the way these stupid new clutches work. Maybe it is normal like the dealer said.
As far as I know, there are no local "independents" that are Audi Certified as far as performing warranty work goes. AKA: You can't get free warranty work done anywhere but the dealer. Having said that. Good luck getting a dealer to warranty a clutch. They will make you approve the clutch job before taking everything apart, because on the chance that the clutch disc is worn out, or the flywheel is worn out, they won't cover it under warranty and you will be on the hook for the job. But if it is something like a throwout bearing or clutch fork, you may be covered by warranty (and they won't replace the clutch disc while they are in there unless you pay for it). I know this because I had a customer go through this on a manual transmission car. He had to sign a work order authorizing them to do the clutch job just in case it was not a warranty problem.
Clutches are like brakes. They are a wear item and not covered under warranty if they wear out. If your caliper gets seized, that's a warranty issue. But if you're just late braking into hwy off ramps they won't cover the brakes when they go at 15,000km. Same with doing launches or riding the clutch up Boundary Rd.