They will be replacing the B9.5 model in the next 1-2 years with a completely redesigned B10, for A4 & A5.
I believe the problem with the steering wheel is (or was) that they switched to having a capacitive sensing system to ensure you have a hand on the wheel while the lane keeping assist is on. And they only did that on the round wheel.
On my older model, it needs to sense physical steering input which is occasionally a pain as the lane keeping is often fine on its own and you don't want to move the wheel, you just have to every 15 seconds to stop it complaining!
If flat bottom wheels are now available with the new sensor (even if they don't offer it in the UK), then it would be an option to swap the wheel at a later date.
I believe the problem with the steering wheel is (or was) that they switched to having a capacitive sensing system to ensure you have a hand on the wheel while the lane keeping assist is on. And they only did that on the round wheel.
On my older model, it needs to sense physical steering input which is occasionally a pain as the lane keeping is often fine on its own and you don't want to move the wheel, you just have to every 15 seconds to stop it complaining!
If flat bottom wheels are now available with the new sensor (even if they don't offer it in the UK), then it would be an option to swap the wheel at a later date.