I had one of the TPMS sensors inside the tyre fall off when my car was around 2 years old. Initially it lost the reading from the rear drivers side wheel, which displayed the yellow warning symbol and dashes for the wheel which had lost the sensor. At low speed (less than 10mph) you could hear it pinging inside the wheel if you had the window down. Thankfully I was still on the factory fitted OEM tyres, which still had a bit of tread left in them, so my dealer removed the tyre, fitted a new TPMS valve and refitted the original tyre, all under warranty.
A bit strange that it's affecting all 4 wheels though as each one has an individual transmitter inside the tyre and a receiver fitted inside the wheel arch, underneath the arch lining. I guess the system then sends the signal to a central computer or body control module that then generates the signal to the Virtual Cockpit, but a bit odd if it's changing which wheel is affected.
Some dealers will tell you that it works through the ABS sensors, which is a much simpler system, but on the Kodiaq I don't believe that's correct, it has sensors inside each tyre and a receiver in each wheel module.
Not sure if that helps much - sounds like a trip to a dealer or VAG specialist independent place. Think it's an MOT failure if you just decide to live with it afaik.