First, I bought a used AMI > Lightning cable from eBay because there's no way I'm paying Audi $85 for a cable. Then I got a few lightning > lightning extension cables (a few because we all know the junk that is sold on Amazon). I had a Panavise in-dash mount on my WRX, which I loved, so I picked up one for the Allroad as well. Then I reused the swivel and cradle that I already had. At this point, all I needed to do is get the extension cable out of the glove box and behind the dash to have it come out behind the climate controls or the ashtray.
I spent hours researching the forums looking for someone who had done this, but all I found were people who wanted to re-route the AMI cable to the center console cubby. The only person who did something close to what I was looking for was dropshadow's thread. His post is a few years old and uses some old technology that isn't really relevant anymore, however, he routed it similarly to what I did.
Here's what I did...
Parts Used
Panavise In-Dash mount (part #75102-109)
Panavise APMS swivel mount (part #685-PM)
Panavise PortaGrip (part #15575)
AMI Lightning cable (part #4F0051510AL)
Cellularize lightning extension
First...the finished product

And the view from the glovebox...

Step 1
Remove the glovebox. I followed this guide
Step 2
Route the male end of the extension cable through the top right exit hole of the glovebox

Step 3
Remove the panel in the left passenger footwell, closest to the front of the car. This is held on by a few clips. Start pulling from the right side, closest to the front of the car.

Step 4
Remove the climate control. I used the first part of this thread
Step 5
At this point, if you look into the space where the climate control goes, you should be able to see some light from the passenger footwell. Reach into this hole with your left hand and with your right hand, feed in the lightning cable from the opening in step 3. You can see my finger poking through from the back.

Step 6
Feed the lightning cable through the hole in the top right corner on the underside of the climate control unit

Step 7
Re-install climate control and glovebox, but don't re-attach the foam cover under the glovebox. Your lightning cable should now be poking out the bottom of the climate control.

Step 8
Hide the lightning cable above the foam piece at the back of the footwell and behind the panel on the left (from step 3)

Step 9
Go back to the glovebox and route the female end of the lightning extension through the netting and plug into the male end of the AMI cable. Push it back into the netting to keep it out of the way

Step 10
Re-install the footwell panel and foam piece under the glovebox. Congrats...You now have access to your phone while it charges from the AMI port

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