If this is your first kid and hence, one car seat (assuming you are going with a click and go type thing like the Chicco Keyfit) then your best bet, for fitment and also, more importantly, safety of the baby is to put them rear facing in the center. This location is safer by a wide margin and will provide you with the most room up front. I'm 6' and was very uncomfortable with a rear facing car seat behind me. No problem in the center. With two kids now, I have the infant seat (chicco keyfit 30) in the center, and a front facing convertible (recaro) behind the passenger, and dont really have problems...i do need to move my seat forward with the infant seat in the middle, but its not too bad, even on long trips.
If I were to do it again, I would consider a more narrow convertible (i.e. Clek Fllo @ 17in wide vs recaro @ 19").
Also, the A4 is a decent family car...since you have an SUV in addition, it makes sense, and is the same situation im in...wife's suv is what we use for long trips where comfort and space is required, although we did a trip up to VT (3hr drive) this winter in the audi without issue.
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