If expensive maintenance is not your thing, I would look elsewhere.
If you either don't mind doing work yourself, have a good independent shop in your town, or don't mind paying the dealer, you should be fine.
Audi's have bucked their reputation and are proving to be pretty reliable with even CR now recommending them.
A big key with German cars in general is that you keep them properly maintained. This is not a Toyota Camry that you can neglect for years at a time.
Just to give you an anecdotal story about German car maintenance costs, I recently wanted to add a tow hitch for our Audi Q7. 3rd party places will throw something on for $500, but that does not include the trailer module and I did not hear good feedback regarding fit and how it affects systems (parking sensors, lane change assist, etc.). So I called an Audi dealership to see what they would charge to install. $1900+ with $1100+ being for parts. To be honest, this hitch will likely be used 99% of the time for hauling our bikes and I couldn't stomach that cost. Was able to find the parts online for slightly under $850 and installed on an overcast Saturday. I realize this is not maintenance, but it just gives you an idea of how much more German parts/service costs vs. a domestic or Japanese brand.
If you enjoy driving a composed, beautiful car and don't mind the expense...go for it!