What is audi p2006 code? - 2008 Audi A6

Its part of the intake manifold. I am guessing here but may be a broken clip or stuck linkage. Check youtube or search p2006 for free online videos and may show you what could be an easy fix or changing parts

P2006 = Intake manifold runner control stuck closed, Bank 1.
There is a set of 'choke' valves built into the intake manifold on the vehicle.
They are sticking closed, affecting the fuel to air mixture getting to the engine. The switches/solenoids may have failed so the will need to be tested or replaced.

If it's not a California car not going to pass w/o a lot of money to a dealer----or find a shade tree smog shop

P2006: Intake Manifold Runner Control Stuck Closed Bank 1

http://www.autocodes.com/p2006_ford.html

code p 2006 refers to intake manifold air control actuator , bank 1 --actuator stuck closed or for 2007 , the intake air manifold control actuator bank 1--solenoid stuck closed === causes ---wiring --- intake manifold air control actuator / solenoid ---mechanical fault
so for both it is either the actuator or the solenoid that is showing the codes

P2006 is a Knock Sensor Code. What Octane Rated Gas are you using? Try Premium Grade Gasoline if you are not already doing so.
Hope this helps

If you don't understand how to diagnose the imrc ,
have a shop do it

You can Google any codes

The intake runner is stuck closed,if you go by the code

I go by what I see & test things, before any parts get replaced

here is what this code means keep in mind that this only give you a idea on what it may be and a staring point but it may also fix your issue

P2006 = intake manifold runner control stuck closed bank 1

The code reader I have gives me the description to the code being displayed and as you said Midas checked it, they should have given you a description also.

P2006-intake Manifold Runner Control Stuck Closed

Hope that helps.