My Audi has automatic headlamps. Has a switch for automatic switching on. If you manually switch it off, the car will remind you it’s switched off when it’s dark.

It should be towed to a mechanic or junk yard.

Your willingness to drive a car with a known potentially dangerous handling problem is grossly irresponsible!! You are potentially putting yourself and other drivers on the road at risk. Stop driving it now. Your description of the issue makes no sense beyond that it’s seriously fucked up.