The usual suspects with the glo plug system is individual plugs (one in each cylinder) beginning to increase resistance or burning out - open circuit. There is a glo plug control module which can also fail. It is relatively easy to check individual glo plugs with an ohmmeter but you should expect very low resistance - on the order of 0.1 to 0.2
I had a similar problem 2 weeks ago. Made a left turn from stop. Car accelerated, then puttered (lost power). Glow plug light was on and the car reported a start/stop system malfunction. I pulled (limped) over, turned the car off and restarted after a few seconds. Took car to Audi last week. Dealer found a fault. This is from the Service Invoice:
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audi q7 glow plug control module location
