Unlike on my other Audis, the clutch engagement point is VERY early on my 2002 Allroad 6spd (meaning: I have to FULLY depress the clutch pedal for shifting).

Can it be adjusted?

Is it normal (it is all stock, no aftermarket clutch, original clutch; was fully dealer maintained).

No adjustment on the hydro clutch, unfortunately. As the clutch disc, pressure plate springs, throwout bearing and flywheel begin to wear out, pick up point changes over time.

How many miles are on your Allroad?

How many miles are on your Allroad?
160k