Depending on who you speak to the "lifetime" ZF transmission fluid as well as final drive and transfer case oils have varying change intervals. For the purpose of this thread I will state it's probably best to have them changed every 60k miles as a rule of thumb as there is no precise source I was able to find. For the ZF transmission fluid I've seen emails from ZF themselves saying that it should be changed by 80k miles. Regardless assume 60k to be safe.
OEM Audi fill quantities:

DIY on the transmission fluid:
https://www.audiworld.com/forums/a6-...speed-2919359/
https://www.youtube.com/watch?v=i2SD...71751083629894
DIY on the front final drive:
https://www.audizine.com/forum/showt...ZF8-automatic)
Missing: DIYs on the transfer case and rear final drive, if someone has links to share I will update here.
General Parts list beyond your tools based on best prices I was able to find. ECS Tuning seems to lead the way here, if you can recommend better suppliers please post below:
Transmission Fluid Service Kit: $335
https://www.ecstuning.com/b-assemble...t/g060162a2kt/
Front Final Drive Oil: 1L $27
https://www.ecstuning.com/b-genuine-...ter/g052145s2/
Transfer Case Oil: 1L $93
https://www.ecstuning.com/b-genuine-...ter/g055145a2/
Rear Final Drive oil: 1L $27
https://www.ecstuning.com/b-genuine-...ter/g052145s2/
In addition you will need a VAG COM or the ECS Scan Tool to measure the temperature of the transmission while the car is running to complete the service $230
https://www.ecstuning.com/b-schwaben...868sch01b~scf/
I plan on tackling this in the coming months and will update as I am going through it, would be awesome if others chime in with additional info.
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