Your car will notify you automatically when your Connect licence is due for renewal, displaying a message in the MMI a few days before. You can also check the date of your licence expiry yourself by following these steps.
If you have a touchscreen MMI, go to ‘Settings’, then ‘General’, then ‘Licence periods’
If you have a non-touchscreen MMI, go to ‘Audi Connect’, then press the right bracket or click the wheel to the right, then select ‘Licence periods’