Ok, I figured it out. For information in case any of you encounter the same problem in the future, if you're standing in front of the car then knock sensor 1 (G61) is on the left (passenger) side and knock sensor 2 (G66) is on the right side.
Both knock sensors are under the intake manifold, one on either side, and not easy to reach. It's definitely possible to remove/replace #2 without taking off the manifold, it just takes a bit of time and patience. All you need to do is remove the Y-pipe and you have access. #1 on the other hand would be a real biatch by comparison and I suspect the manifold would have to come off. It's buried somewhere under the part of the spider hose that connects to the f-hose.
The part number for #2 is 078 905 377, at least on my '99 S4. It has a brown connector. I have no idea for #1 because I didn't take if off. It also has a brown connector so I guess it's the same.
I understand that the mounting torque is critical for correct operation. Would anyone with a Bentley manual be willing to confirm the correct torque please? I think it's 20Nm but want to be absolutely sure.
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