Depends on the year of the vehicle. Ford keeps a record of all warranty repair, but it seems to go back only about 8 years or so, and only care newer than 10 years old show up anyway.
Go to your local Audi dealership service department and ask one of the service advisers to look up the vehicles warranty history. If Ford keeps track of those records for service departments, I can't see a company like Audi not doing it also.
I used to work for a Dodge dealership and they can provide you a printout like this at no cost but it may only show the warranty work as many cars don't make it back to the dealer for anything but. If there was maintenance done some places will provide it as well.