B6 A4 Avant?
No need to remove a few panels. Remove that screw in Fabio's picture (28 I believe). (The lower tail housing is the AVant an the upper is the Sedan). I recommend a magnetic tip 1/4inch drive socket but if you can't find that then use a magnetic tip philips screwdriver. If you drop the screw you're pulling the entire trunk interior panels apart to find it.
{rant: damn Bentley photos look nothing like the cars themselves.}
You can then, carefully, pull the tail housing away from the center of the car (ie: towards the outside.). There are two tabs that plug into the body where the tail light meets the rear quarter panel. These 'pop' out but be careful. Don't use a lot of force. Go easy. Once they come out you can remove the light within 4inches of the car. Enough room to unplug the wires and then the entire housing is off the car. Now you can remove the bulb circuit board and replace the bulb.
These bulbs are delicate. As in, you need the right wattage bulb. Otherwise your car will sense a bulb out like it did for me. The tail light / stop light bulb for the B6 Avant is
OSRAM Sylvania 7528 12V 21w/5w double filament tail light bulb. See here for my experience:
http://www.audigeeks.com/forums/index.php?topic=2697.0
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