It's difficult to advise without knowing what caused the damage to the tracking and the wheel. At a guess, I'd assume the car has been involved in some sort of accident that has caused serious damage to the suspension.

The warranty covers you against manufacturing defects but not accidental damage. The dealer is well within its rights to void the warranty if they suspect the car has been involved in a crash.

If the car is pulling to the left then I'd be concerned about its roadworthiness. As the driver, it's your legal responsibility to ensure the car is safe for the road at all times. You don't need to take the car to an Audi dealer to be repaired in order to maintain the warranty, but it must be fixed to Audi's standards with approved parts and fluids (backed up with an itemised invoice).