In order to take off the steering column, one has to remove the battery negative lead and place it elsewhere other than the terminal first. Turn the steering column to the lowermost position and reach into the passenger compartment and lock. Undo the screws to remove the column height and reach adjustment handle. Unscrew (un clip) and unhook the upper shroud of the steering column. Take out the steering wheel and make sure that the steering is in a straight-ahead position. Unscrew the two screws on top and one bottom screw in order to take off the lower shroud. Unscrew the screws to remove the lower facia panel next to steering column, the fuse box cover, and light switch, and remove the storage compartment (where applicable) first. Remove switch carrier at the top of the steering column, make sure that to reinstall new shear-head bolts are needed. Unscrew the retaining screw and take out the footwell vent underneath the steering column. Disassemble the wiring the ignition switch and un-screw the cable guide by prying the lugs off the retaining clips. Unscrew the nuts and trim under the foot pedals to remove steering column universal joint, unscrew the clamp bolt and pull the universal joint out of the steering gear pinion, and discard clamp bolt and screw it in at the same time on refitting. Unscrew the nut and remove earth cable and then take off the wiring harness of the steering column. Removal of the inner steering column should keep the splined sections engaged because, otherwise, it can rattle. Unscrew and take out two mounting bolts at the extreme ends, support the steering column and unscrew the remaining bolts and here the lower bolts are provided with safety bars to avoid pedal shift in case of accident. Lower the steering column and remove it out of the car, removing the bolts and making sure to do not carry it with using the universal joint or intermediate shaft to prevent its damages. Take off the ignition switch/ steering column lock, as needed. To inspect, test the steering column in case of damage and deformation, test the inner column parts in case the bushes have free play, and test the universal joints in case they are too worn and in that case the whole assembly must be replaced. To refit, replace any removed ignition switch/steering column lock/switch carrier, reassemble steering column to the bulkhead bracket by using new mounting bolts to a specified torque, reconnect earth cable, and reassemble wiring harness. Connect the steering gear universal joint to the steering gear pinion splines with a new clamp bolt screwed to the given torque, fit the foot pedal trim back on, screw the nuts in place, and refit the nut with a new locking bolt. Re-fit the cable guide by making sure the retaining lugs are in place, re-connect wiring to ignition switch and footwell vent. Install the light switch, lower trim panel, remount the screws, and re-install the upper and lower shrouds and tighten the screws and replace the gap cover. Install column height and reach adjustment handle again, screws are tightened, lastly steering wheel is installed and battery negative lead is reconnected. In ESP models, an Audi dealer will have to adjust the steering angle sensor basic settings using special diagnostic tools.