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The Audi Q5 is a series of compact luxury crossover SUVs produced by the German luxury car manufacturer Audi from 2008-Present

Don’t exceed 4000rpm

I get a light comes on if I drive the car for a long drive on the motorway saying do not exceed 4000rpm and my turbo is off

If I clear it with a diagnostic it will be fine for a short period of time

But will comes back eventually

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Next time the warning light comes on, don't clear the codes with a diagnostic tool right away. Try to find a place nearby that can read detailed trouble codes. Some auto repair shops do it for free. Most likely, it'll show codes related to supercharging, like P0234 or P0299. Or you can get an entry - level code reader like the ANCEL AD310. It's only around 20 bucks on Amazon. Just plug it into the OBD port and it can quickly read the detailed trouble codes. It's one of the things I always keep in my car.
For your situation, I suggest you check if the turbo pipes are loose or leaking air, especially the connections at the intercooler. If the clip on the intercooler joint is loose, it might be okay at low speeds, but it could leak when you're driving on the highway.

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That rpm indication light, not exceed 4000 rpm's, means you have high chance of low oil pressure. That rpm alarm is the start of problems :) you should diagnose your car, by measuring lub oil pressure. Rpm alarm light is asociated with oil pressure. I have encountered that problem, had no idea what it meant. After engine replacement, due to low oil pressure, I have found that at the beggining, it lights up that rpm indication, after a while came out lub oil pressure light. Engine was working fine, meassured oil pressure and found out, when you rev engine, on high rpm oil pressure drops and alarm comes out. When it should be steady at any rpm. There was heavy wear of parts inside engine.

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