In this context, team is a countable collective noun. It may be seen as singular or plural.
team = "a number of people who act together as a group, either in a sport or in order to achieve something"
Singular use: "A football team comprises eleven footballers"; "A forensic team of three specialists was at the crime scene"; "The teams gathered for the Olympics"; "One team was on the train".
Google ngram shows "team is" to occur consistently about ten times more than "team are" over the last two centuries. The same goes for committee, another collective noun.
From this viewpoint, in your examples I favour team as a singular collective noun representing the actions and beliefs of the whole group of auditors": "the audit team was not quite satisfied".
Plural use: in a different construction such as "The audit team were dressed in trousers and skirts", the focus is clearly (auditors not being known for controversial dress combinations!) on the members of the team rather than the whole team, so "were" is appropriate.