Audi has never made anything comparable to the Jeep Wrangler. The short-wheelbase 2-door versions (including a convertible) of the original Mercedes-Benz G-Class (Geländewagen) could certainly qualify as a Jeep Wrangler rival, but those were discontinued sometime between 2013 and 2015, I believe, and the latest G-Class that debuted last year is only available as a metal-top, enclosed 4-door wagon.
I'd say if you want something Wrangler-like from a luxury brand with possible open-top capabilities, the upcoming next-gen Land Rover Defender would be your only alternative.