that A8 fluid change is the same as the S4, except the pan and filter look differant.
some clarification (and this is from a ZF manual) when filling the tranny, turn on every accessory possible to increase load on the engine (heated seats, A/C, rear defrost, lights, heater fan to max, radio, etc) and thus increase engine speed to overcome the drag of a fully energized alternator and a/c pump.
start filling, and cycle the tranny through all the gears for 3 seconds (30 seconds is excessive and offers no benefits), once it starts pouring out, leave the engine ON and re-install the 17mm hex fill plug. once its fully installed you can shut off the engine, and take the car for a road test to ensure proper operation.
One other thing i suggest is resetting the transmission, key the ignition to on but don't start it, put your foot to the floor so you have engaged the kick down switch, hold it there for 30 seconds (between 20-40 seconds if what ZF says, so 30 seconds gives you 10 seconds fudge factor either way), take your foot off the gas and start it, put the car into "D" (putting it into reverse won't work) and drive the vehicle, transmission is now re-set and it will re learn the appropriate line pressure setting and, shift point, speed, etc. you will notice the car shift differently for the first half of the driving cycle, and the shifting have to re-adapt to either "old-man" or "fucking street race" shifting pattern depending on your driving style.
last thing i have to say, its better to overfill than to underfill, so either point the front of the S4 down slightly or re-install the plug before all the extra fluid manages to pour back out.
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