Turns out my Mechanic is thinking it's a bad crank sensor. Sadly... for the first time in a month I stalled the car(Pretty hard too, was very tired while driving, 17 hour work shift) and when I fired it up the car felt funny. After 2-3 minutes of driving it smoothed out and I thought all was well.

The next day when I started the car up the strange idle was back. The RPM's look normal, and the car runs fine, just feels really rough and sounds off. I'm not very mechanically inclined, but the symptoms I'm reading online just don't fit a bad crank sensor.

It's a 2000 S-4 Quattro, 2.7L V6, 156,000 Miles.

 

I had issues like this recently with my S4. When I'd start up the car in the morning or after sitting for a long time it would idle like crap and almost stall out on me, but after driving for a couple miles it'd be perfectly fine.

My fix was I replaced the Coolant Temp Sensor. I got the part at my local dealership for like $28 and it took about 20 minutes (hard to reach) to replace it. Next day I started up the car and idle issue was gone.

 

crank sensor issue will result in no crank or crank but no start. i dont think its that..