Tools needed:
-T-30 Torx head and small ratchet and/or 90 degree driver
-Hose. I used a 6' clear hose from the Depot. 7/8 outer diameter and 5/8 inner. 5/8 inner is key.
-Milk jug and something to keep it upright (used a homer bucket)
-Needle nose pliers for the hose clamp
-Rags and such (also used an old t shirt to cover underneath the res and hoses)
-2 liters of proper fluid (green 11S)
-Small cone cork, golf tee or something to plug the hole where the return hose goes on the bottom of the res
-Small, clean funnel
The power steering res tank is on the drivers side. It's black with a little gray cap (actually has a steering wheel icon on it).
I removed the screw that tightens the bracket that holds the power steering reservoir. Then I removed the entire bracket to give me more room to wiggle it around so I could get a good grip on the clamp. It is a pain to grip.
On the bottom of the res tank, there are two hoses held on by clamps. The large one feeds fluid to the system; the small one is the return hose (this is the hose you will remove). Use a pair of needle nose pliers to get the clamp loose and slide it about 3" down the return hose so it's not holding it on anymore.
Then I fed the 6' hose into the engine bay (before pulling the return hose off). To do this, I removed my driver-side fog light cover and fed the hose in from the front just beside the fog light and just above that little blue plastic ball. I put one end of hose into my milk jug and got the end in the engine bay close to the fluid res. Now to get messy or not.
I pulled the little hose off and immediately stuck the clear hose I bought onto the nipple on the bottom of the res tank and allowed it to drain (a surprisingly large amount will flow out). It does not slide onto the nipple, but if you hold there, it will all drain into the clear hose. I kept the return hose as close to upright as I could while the res drained. I did spill some, but thats why I stuffed an old shirt below where I was working inside the engine bay. Once the res was empty, I fit the return hose INSIDE the clear hose I bought (5/8 inner is the perfect size). Onto the flush now.
Fill the reservoir tank with Audi/VW Power Steering Fluid part: G 004 000 M2. You can use other brands I guess (make sure it's 11S) , but I had some credit to spend at the dealer. $28 per liter. Buy two.
Make sure the clear hose isn't going to fall out of your jug. Your car's pump will expel this stuff rapidly. Now that the tank is full, start your car. Let it idle no more than 3 seconds. Turn it off. Refill the tank, run car for 3 seconds, stop. I did this three times. After the third time the clear hose was beginning to get brand new, bright green fluid in it from the return line. It sucks fluid into the pump faster than you can pour it in. Hence the start/stop approach. Flush complete.
*if you hear you steering pump whining while doing this, turn your car off immediately. Air is in the line. Pumps do not enjoy this. Add more fluid and repeat.
Lift, wiggle and do what you can to empty the clear hose while it's still attached to the return line. Then remove the clear hose (try not to let the return line flop or drop as its full of fluid at this point). Now you need to get the return hose back on. I pulled the plug from the nipple and somehow managed to hold it closed with my finger tip while I got ready to shove the return line back on. Once the line is on, get the pliers and replace the clamp to keep the line on. I spilled a little doing this; you will too. Glad I had the shirt under the res.
Fill your res again properly and start the car. Turn the wheel side to side all the way to opposite lock a few times to ensure you have all the air out of the system and fluid where it needs to be. Check for leaks, top off res if needed and clean up.
Then go tell your wife you saved $250+ by being crafty. Use her goodwill as you see fit.
Takes about an hour. My car was at 50k and the fluid was dark brown. I'll likely do this every 25k from now on.
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