In this process, the subframe will have to be dropped and that will need Audi subframe locating pins (T10096) or any other that will make the front wheel align properly. Refitting needs new subframe mounting bolts,
Ball Joint nut of the track rod, rack and pinion retaining bolts, an intermediate shaft universal joint clamp bolt. Disconnecting the negative lead on the battery, use of the handbrake, jacking up of the front part of the vehicle and placement on stands of axles of the vehicle is the starting point so that the subframe is free. Set the steering into a straight line, take off both front roadwheels and the engine compartment undertray. Within the vehicle, unscrew and remove the clamp bolt, peel away the plastic cover to get access to the universal joint between the steering inner column and the rack and pinion and then remove the universal joint by pulling it off of the pinion splines, and replacing the clamp bolt with a new one when replacing. Unscrew the nuts at the ends of the track rod and apply a ball joint separator tool to take out the nuts on the steering arms. Unscrew the nuts attaching the anti-roll bar links to the struts, and unscrew the nuts attaching the front suspension lower ball joint-to-lower arm, pushing the lower arms downward to loosen the ball joint studs. Disassemble the engine/transmission rear mounting bolts, disassemble the exhaust system mounting and heat shield of the subframe and change the posture of the subframe using a trolley jack and block of wood indicating its position in case no locating pins are used. Unscrew the mounting bolts, and carefully bring down the subframe, and unbolt the heat shield over the rack and pinion. Unplug all the wiring with the rack and pinion, but do not touch the wiring terminals on the electronic control unit to prevent any damage by the statical electricity. Lift the rack and pinion to the floor, and also unbolt the rack and pinion to the subframe and lay it on the floor. Inspect the rack and pinions, looking at it to see whether it is worn or damaged, and the rack should move easily, not feeling rough or with too much free motion. In case of faults in the assembly, the latter needs to be changed, and gaiters, track rod end ball joints and track rods can be regenerated separately. To refit, get the rack and pinion on the subframe, fit the gear and anti-roll bar bolts, and then bring up the subframe to refit the cable guide and reconnect the wiring. Install the heat shield again, position the subframe on the underbody and align it with the cracks left during removal or position it with locating pins followed by tightening of the mounting bolts. Use a soapy solution to get the rack and pinion gaiter around the bulkhead then replace the exhaust heat shield and mounting, then the engine/transmission rear mounting bolts. On the lower arms, find the lower ball joints of front suspension, screw in new nuts, and tighten them. Screw the ends of the track rod back in with new nuts, and tighten them. Install the rack and pinion pinion splines with the universal joint in the car, then take in the new clamp bolt and screw it tight. Install the battery negative lead, reattach the engine compartment undertray, reattach the wheels, lower the car and reconnect the battery negative lead. Check the wheel alignment of the front wheel shortly after that and where applicable with ESP models reset the steering angle sensor basic settings at an Audi dealer with specialist diagnostic equipment and fit a new rack and pinion to the car as necessary.