Audrey Marcia Daum was born April 16, 1931 in Portland, Oregon, to Esther Holmes Daum and Merrill Frieland Daum. The fourth of six daughters, she grew up in Portland and attended Highland Grade School and Jefferson High. She earned a degree in home economics education from Oregon State College, where she was a member of Kappa Alpha Theta sorority and the first woman president of the Memorial Union. In 1954 she married her high school sweetheart, Jon Waldorf.

Audrey began her nutrition and home economics career as a teacher at Franklin High School in Portland. She later taught in Tacoma, Washington, then served as Senior Home Economist for Tacoma City Light and, for 15 years, as Director of Nutrition and Consumer Services for Roman Meal Bread Company. Audrey also volunteered at the YMCA as a swim instructor for children with special needs and was a dedicated Girl Scout troop leader.

Throughout her adult life, she was an active member and church elder at Marine View Presbyterian in Tacoma, where she served in Stephen Ministry and arranged flowers for Sunday services and weddings.

Audrey died of natural causes on December 22, 2021 and was followed in death by Jon in 2022. She was well loved by her children, grandchildren, and great-grandchildren and is survived by her son Warren, daughter Lynn, son William, and sisters Marjorie Columbus and Miriam Selby. She was preceded in death by her parents and sisters, Barbara Merklin, Dorothy Thomson, and Patricia Montgomery.

A memorial service for Audrey and Jon will be held at 1:00 pm, Saturday, November 12, 2022, at Marine View Presbyterian Church. Donations in their memory may be made to the church.