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Audi claims the Transmission Fluid in their a6 Quattros doesn't need to be changed, and is good for a lifetime. If you do want to change it, you will need to get under the car and remove the rear splash guard that covers the transmission belly pan. From there, you loosen the Allen head drain plug and let the fluid drain. Remove the pan and discard the gasket, and then replace the new gasket and reinstall the pan. Pump fluid back into the transmission through the fill hole located near the back of the vehicle.

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