I just did it myself, I bought the car at 40K miles (2011 s5) and did the 35K service on it...not knowing if it was done for not previously. Total time about 8 hours (because I had to learn how to do most of it)...bought the car end of Sept. If i had to do it again on another car probably 5 hours total. I changed the oil, the brake pads, changed the brake fluid, changed the power steering fluid, and changed the AFT. Of all of them the AFT was the biggest pain. But once you have done it once, it becomes quite easy.
You do have to remove some car structure, get the car level, drop the pan, pull the filter, clean the pan and magnets, put in the new filter (make sure the oring gasket came out with the old filter), replace the pan gasket, fill the tranny through the fill hole until it spills out. Close that up. Turn on the car, run it through reverse, neutral, drive (just go into those gears, with your foot on the brake nothing moving, 10 seconds each one). Then put it back in park and run the engine at about 2K rpm for 1 minute. Have your VDCS cable connected to the car, watch the tranny temperature, keep the car running. At about 35 degrees C, I opened back up the fill hole, and let the fluid pee out, then at 39 C, i got back under and put the fill cap back in. Shifts like a dream now. No way i would pay 2500 for any simple service, as I changed out everything i could. Tranny Fluid was 20 bucks a quart, got 7 ended up using about 5.5. I put Mobil 1 0w-40 with a mann oil filter, 9.5 quarts of oil (used extractor to just suck out all the oil). Power Steering was 11s fluid. Brake Fluid was dot 4 (dont remember name) about 1.5 quart if I remember right. Total cost of materials about $370 (pads, filter and fluids).
Rear brake pads require the VDCS cable also to tell the car to release the brake pads.
I will say the ZF engineers should be horse whipped for their tranny maintenance design. Its a messy process and you get fluid all over you, no matter how you do it. And Audi engineers should also get a whipping for putting structure on the car blocking the tranny pan. Sorry aerospace engineer here, and I thought we came up with useless designs
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