I did take it to a shop and they were 90% sure it’s the AFS unit.
I am 100% sure shop is wrong. If the AFS control unit (5N0941329) in dash was bad you would not get communication, nor would it be limited to one side.
I suggest removing headlights without disconnecting connectors so you can access modules, then swap the module attached to the headlight from the left side to the right. The control module is one on right in picture below, middle is ballast. Then rescan and verify problem is on right side (if not go to next module). Once bad module is isolated, order and replace. Plenty of youtube videos on removing headlights.