Zune- My Audis are older and supposedly less moisture-sensitive than yours. IIRC you need to keep water away from its coil-on-plug ignition system. And yeah, keep water from getting into the alternator.
Overall, I've hardly *ever* had issues with water and I get my engines wet to some extent at most every wash. IME a little common sense goes a long way.
But:
Gotta say that, probably, I just wouldn't use that approach. Meaning I wouldn't spray an Engine Cleaner everywhere and then hose it off. I'd clean it in smaller areas (at a time) with a more controlled method, and I like solvents (e.g. the *very* safe ValuGard New Car Prep) as they flash off clean and don't require rinsing. OK, that's just me and few people seem to approach it that way, but I find it a very workable approach.
I do use degreasers/APC for some areas, but only those where I have no qualms about getting things wet. And I give thought to the runoff- don't want [the mess] to just move to somewhere else that's harder to deal with. Give a little thought to the [stuff] getting on your garage floor/driveway too.
I'm guessing you don't have a steamer...but OK, those aren't absolutely required (just handy for some areas).
Note that natural-bristle brushes (e.g.. boar's hair) are *great* for this as they rinse clean no matter what gets on them.
I'd also gather *lots* of rags and swabs, and different lengths/shapes of sticks to access different places with the rags.
Some areas are easier to get to from underneath, and with an SUV you don't always have to put it up on jackstands.
Recent worst-vehicle example: My '93 Audi's original owner *NEVER* had it cleaned under its hood, after more than 20 years it looked like somebody spraypainted the engine compartment black. (Your SQ5 can't be anywhere near that bad

My very-used Crown Vics and the old Tahoe were easy by comparison.) I cleaned it up to near concours standards without using any of my Engine Cleaners or degreasers (I sure did use a lot of rags and swabs though). I didn't use my APCs on the engine proper, just used them for the inner fenders and some sections of the firewall, areas I could rinse without worry.
Once you get/keep the engine compartment clean (and note that the techs at the dealership will be more favorably disposed towards you and your vehicle when it's clean in there), you can move on to the undercarriage!