As you mentioned, there are two cables inside the rear door. One is connected to the inside handle, and is part number 8K0 839 085 A. The
ECS website carries this one (ECS part number ES#451466 for $32.22). The description is Rear Door Latch Release Cable - Bowden cable from inside door handle to latch - Fits left or right side ... Inside door release not working? A common problem is the Bowden cable stretching or breaking. It looks like this:
However, you said that you cannot open the door from the outside, only the inside. Therefore the other cable, part number 4H0 837 099 B is the one you'd need. The
ECS website shows this one (ECS part number ES#2595542 for $38.33). The description is Door Bowden Cable - Fits the left and right side. Fits the front and rear doors from the 2013 model year (
but the chart shows it fits the B8 S4 -- you didn't mention your car's year so check to verify the part number). ... The bowden cable attaches the exterior door release to the door latch assembly, allowing you to release the latch from the outside of the vehicle cabin. If this cable fails, the outer door handle will no longer open the door. It looks like this:
I assume you need to remove the inner door card to have access to replace this bowden cable. Might be a DIY video to illustrate the process you'll need to follow for this repair. Alternatively, someone here on AZ can offer advice as to what needs to be done to replace the cable. Also, the part may be available for less at other on-line parts websites. ECS is a reputable vendor though that I've used in the past, and trust.
Just noticed that if that picture of the cables you included is from your car, than apparently you got the door card off. The cable with the yellow plastic piece at one end has a white plastic piece at the other end. In your pic it looks like the white plastic piece could be broken, so that could be your problem. Here's what a new one looks like:
It would be part number 10 in this diagram:
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