Sure, but be prepared for AFS to give carmax a bloated buyout. Try to sell it to Audi dealer.
Or a VW dealer. Or one of the brokers/conglomerates that can provide a payoff thru a VW/Audi dealer (equityhackr, rodo, Autonation, carshop, etc).
Have you ran some bids on the car before going through the trouble?