No, won't have caused damage. But this is the second time I have heard of an Audi dealer putting a car out on storage tyre pressures. This is actually very common but proves that the pre-delivery inspection was not carried out correctly so you should seek some acknowledgement of that from the Audi dealer.

In the other case, the Audi owner received a replacement set of tyres FoC. Anyone buying a new car should check the tyre pressures. I have had to reduce them substantially on my last two long term test cars. Remember, pressures rise as heat gets into the tyres so that 38/35 is the hot pressure, not the cold pressure. Inflate to 38/35 cold and you will get 42/39 after a motorway run.