Don't have a how to with pictures but it's a fairly easy process. You need a Torx T-20 and a trim removal tool (an old credit card or flat head screwdriver with a microfiber towel wrapped around the tip or maybe even just your finger nails).
- The speaker grill by the door handle needs to come off. Start prying at the top rear corner of the grille. Should pop out fairly easy
- Underneath the cover you'll find 2 torx srews. Remove those two and there will one more need to remove right underneath the armrest. Bend down and you'll be able to see it
- After you remove all 3 screws, pick somewhere along the bottom of the door panel and start trying to pop it off. For me, each door was different about where it was easiest to get it started
- Don't worry about breaking any clips. Audi used anchor points on the door. Which, in my opinion is pretty genius. No more stupid broken door clips. I won't say it's impossible not to break them but I don't see how you could
- When you release all the anchor point and the panel is swinging freely, grab onto the sides and wiggle it straight up to get it out of the rubber track/window seal
- From there, you'll just need to undo the door cable and unplug the wires from the box on the door