Just changed mine out. You have to get the radio keys and pull the radio out. From there just reach in and push it out from behind. The ESP button comes out with it, it is actually attached. You will have to carefully unplug both the ESP and lighting connectors. You will have to remove the ESP button and plug it into the new CC tray.
I bought the radio keys off Ebay for $1.99. Just search Audi radio keys. My '04 Symphony only took two keys. I think the Symphony II takes 4 keys. You really have to yank on the keys to get the radio out, but it will come out.
Good Luck, let me know if you need more help. Check A4mods.com for pics of the radio removel, under the Ice Link DIY.
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