this "rpm goes up and down at steady speed" issue most likely is either the oxygen sensor (lambda probe). You can easily test this by disabling it by unplugging the connector cable. Or it may be the torque converter lockout acting up - does it happen only in "E" or in "S" and "M" also?
ABS light staying on can have multiple reasons. Most common is a broken signal cable from one of the sensors. Or it could be the fuse for the ABS ECU. Or one of the sensors is defective...
As for the sound - have you checked for loose things underneath the car (cat heat shields etc.)?
First thing to do is checking the fault codes stored in the engine/transmission ECU. You can have that done at any Audi dealer or do it yourself with a laptop, VAG-COM software and interface. Read here for more.