It sounds to me like you are worried about damage from putting the car in park while you were moving, not worried about how the car moves while in drive but no gas pedal.
I really don't think that you could hurt it by doing that. I am sure it is not good for it, but one time isn't really gonna kill it. When you put the car in park a pin slides against a gear to stop the car from moving. So, theoretically, you could brake the parking pin and the car would still drive.
When younger I have abused a few rental cars. Based how rental cars (not Audi's) react. If you are going 10 or 15 mph the pin just makes a clicking noise until it can engage fully then the car just kinda rocks back and forth a bit. If you were going 2 or 3 mph the pin just goes in and the car rocks back and forth and stops.
So unless you got a big snapping noise and the park position no longer will stop the car from rolling while parked normally on a hill don't worry about it.