I have an 2015 SQ5 (3.0TDi) and it was booked in for an MOT yesterday at Audi, they offered this emissions update, and I made sure that this update was not done. I can only see it making things worse (performance and smoothness) in the name of reducing emissions - if it ain't broke don't fix it!
I'm also sure I have seen previously others online having a same/similar update only to complain later that the engine doesn't run well afterwards.
My 2015 SQ5 was not part of diesel gate, there were no updates regarding emissions available until this year (2022), so things may have changed also for your 2014 3.0 tdi. Just to be aware before they just update yours during a routine service etc, and then when you find out they will probably say you can't go backwards.