Same car and same issue. The speakers actually rust and stop working. You have to cut open the chamber where the speakers are with an angle grinder, fit new 6.5" speakers and then either weld (or high temp silicone) the chambers back together.
I just bought some speakers about a month ago to do this job on my SQ5. Most people go for a marine grade speaker which is more durable against rust to get the most life out of the replacement speakers.
I bought these based off recommendations from several other SQ5 owners who had fitted them. You should also consider joining the SQ5 owners page on Facebook. Audi SQ5 Owners Australia
KICKER 42PSC652 Marine Speakers : Amazon.com.au: Electronics
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