On my B6 I used wiring from a 2007 A4 B7 to retrofit a S4 RS4 Servotronic rack and relay. I used the S4 relay (actually a pwm control). One thing I notices was that the steering feel really depends on the tires. My winter tires felt pretty light at low speeds, the summer tires feel perfect even with just the S4 relay.
If it helps have pics of the part locations and list various part numbers of S4 racks:
https://www.audizine.com/forum/showt...th-Servotronic
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