Very common for front control arms on the A4/S4/RS4 models, just the design of the suspension and steering. The audi dealer may be overkill with every nook and dried rubber, you could get it inspected by pedders as well.
Front control arm refresh kit is a good start. If you're thinking about suspension upgrades, check 034 motorsports, they have a good dynamic lowering spring kit if you ever thought of lowering.
That rear trailing arm kit isn't for your S4 im pretty sure. The rear arms don't really wear how the fronts do.
Double check your diff, I'm not sure if the sport diff takes a different fluid or spec.