What is the difference between inspection and quality audit ?

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Inspection

This is Control Quality topic which just mean seeing something , or say inspecting something, inspection is related to testing , so inspect and see if the deliverable is meeting quality expectations or meeting with scope specification
Video 17 in Quality Control elaborates it more
17 8.3 Control Quality ITTO: Duration (12 Minutes)

Quality Audit:
Video 13 or Quality chapter answers it more
13 8.2.2.5 Manage Quality Audit: Duration (4 Minutes)

Quality Audit can be considered as auditing the process , where you check the adherence of process, like checking are we following safety guidelines , so its checking of process or practices .