Small amount of VAT underpayment outstanding from years ago

Hello, About 7 years ago I did some contracting via a VAT registered LTD Co, invoicing an agency. I initially started with the LTD Co using a subscription accounting service. Before the end of the first year, I found out they hadn't been doing my books in line with their 'service' sales offering, so I cancelled and lost access to the online software. I started doing my own accounting/PAYE & VAT/CORP tax submissions. The LTD Co. has had long dormant periods where I have been in PAYE job roles and 'dormant status'. It has never required an audit or to submit full accounts. Recently I have redone the accounts from the beginning and found a small VAT underpayment (~£30) from around when I got rid of the 'accounting service' and started doing my own books. My question is, is there an easy/pain free way to pay this small amount to HMRC with interest to avoid having to resubmit 5-6 years of VAT submissions/correction :-( Would it trigger an audit? Thanks,

Hi,
If you are VAT registered then you need to submit all your VAT returns by the due date. You can see guidance here:
Sending a VAT Return
If you make an error on a VAT return please refer to the guidance here regarding correcting errors:
Correct errors in your VAT Return
The time limit for correcting errors is normally 4 years.
We could not comment on whether a VAT compliance check would be actioned as this is business specific and dependent on many different factors. Guidance on compliance checks can be seen here:
HMRC compliance checks: help and support
Thank you.