My 4 1/2 year old Audi battery seemed to be on its last legs recently so went ahead and replaced it with an Autozone Duralast Gold ($140 including taking my old one). These S4 batteries weigh about 60 lbs and based on its location, there's no way I could think of lifting it out myself. I've read about 2 people lifting it out (not sure how 2 people could get to it) and have read about folks kneeling on the intake manifold (didn't want to do that).
So i took a 7' long 2X4 and a lifting strap (velcro strap you can get at Home Depot that lifts up to 200 lbs) wrapped around the battery handles and the 2X4. My wife and son lifted from both sides of the car (30 lbs each) as i guided the battery out.
Also... in order to get to the bolt that holds the bracket that holds the battery down, you need a long (~6"+) 6mm hex wrench with a ball end. The strut that passes in front of the battery makes it impossible to get to this bolt without such a long tool. Once you loosen the bracket, you can not remove it but you an slide it toward the side so that the battery clears this bracket.
Dealer wanted $300 to change the battery. So it's an easy DIY to save $160 or so.
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