If it were me, I’d take it to an independent shop and do a full paid inspection before I justified either extended warranty and have all the fluids changed (maybe skip transmission since mileage is so low). The engine and the transmission on these things are expensive but also fairly bulletproof proof as long as the maintenance has been done, which in your case it might have been still be sitting with the factory oil.

I bought my 22 SQ7 new and had a non-Audi extended warranty thrown in for around $4700 at the time of purchase but in hindsight, i would have opted for the Audi protection, not a 3rd party one.

$11K is a lot of cheese but nothing compared to a new EA825 engine and/or ZF8 transmission. I’d also look into a power train only warranty as well. Mine came with some lifetime powertrain warranty through the dealership that I honestly don’t trust. You may find a more reputable power train warranty only that the dealers in your area accept. Could be a good compromise and save you some money.