David at audienthusiasts.com has several tutorials for projects involving removing the door panels, which illustrate how the arm rest holding the window switches and door locks is removed. It should not require removing the door panels to perform the repair you are seeking to do. Here's one project that he wrote for
installing ambient lighting in the door pockets. It shows the steps for getting as far as you should need to go to get to this point:
Others here who may have replaced switches on their driver's side arm rest can chime in with any helpful tips. I don't believe you should have to reprogram anything when you replace the switch. Keep us posted on your progress!
UPDATE! I just found
this site that shows a picture of the switch, and it's actually a switch assembly that controls all 4 of the window. I assume the A4 and S4 switches are the same. According to the site, it can be replaced in 5 minutes. It does look like the switch assembly is connectorized so that it's an easy replacement.
It looks like ECS Tuning carries this switch at
this link. They say it fits up to 2012 S4s. Hope this helps.
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