Feudal barony of Barnstaple 1386) during his life had settled the feudal barony of Barnstaple by means of an entail on his heirs male, with remainder to the crown. As all his sons from both his marriages died without children, the barony thus became the inheritance of King Richard II (1377–1399), who granted the barony firstly to Robert de Vere, who however was attainted in 1388, when it escheated to the crown. King Richard II then granted it to his half-brother John Holland, 1st Duke of Exeter (c. 1352 – 1400), in tail-male. Audley had also been feudal baron of Dartington, inherited from the
Hugh Waterton of Eaton Tregoz near Ross-on-Wye in Herefordshire, which by an inquisition taken after his death was found to contain castle buildings and a deer park of 144 acres. By 1377 he was one of Gaunt's retainers, and in 1399 an executor of his will. From the late 1370s he was also associated with Gaunt's son, Henry Bolingbroke, the future Henry IV, becoming a Privy Councillor and by 1386 was Bolingbroke's chamberlain. On 10 July 1386 he was among those who gave evidence in the celebrated case between Richard le Scrope, 1st Baron Scrope of Bolton, and Sir Robert Grosvernor as