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It's under the hood near the windshield. Lift up the small panel right in the middle to inspect or clean the posts. To remove the battery you remove the entire plastic panel--remove the weather strip (it just slips on) about 10 inches from the windshield, slide the full-width plastic panel toward the front of the car and remove it.

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Q: Where is the battery located in a 2002 Audi a6?
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