SQL Server 2016 Audit Actions, Can DatabaseAuditSpecification capture param values used in statement?
There is no audit action to capture this information, it is a limitation of SQL Server Auditing. Basically it captures the statements after the query optimiser has already parameterised the query.

There are two open requests that I know of to alter this behaviour (here and here) that you could vote for, however, this limitation has been around for some time and doesn't seem likely to change. Note that this is apparently different in Azure SQL Database, however, I haven't tested this to confirm.

Your options for this are triggers, CDC, SQL Trace or third-party auditing tools.