I have this issue... thought replacing the battery would have solved it. Happens after the car has been parked for about two hours. It cycles thru the CDC and starts at CD1 and I notice when I open the doors (doors were unlocked being parked in the garage) the dome lights don't come on until I insert the FOB.
'07 Audi A8 (w/ 20,000 miles)
'03 745Li (sold)
'03 Acura TL-S
'02 Infiniti QX4 (sold & new owner totaled it 4 hours later)