A couple of suggestions on control arms:
Instead of going with a 034 kit, i would suggest going through a place like Europaparts.com and purchase the Lemforder brand. Lemforder is the original OEM brand of most of the suspension parts underneath your Audi. This will save you tons of money vs buying OEM and will get you the exact quality of the OEM part.
Upper control arms:
I can't exactly speak to tire wear yet, as I haven't had my car lowered for to long, but my car is currently lowered to a 24.5" fender to ground clearance and this provided me with a -2 degrees of front camber on OEM upper control arms. Most inner tire wear comes from improper toe adjustment. My experience with most of the adjustable upper arms is they just don't last long enough to justify the extra money. You'll end up rebuilding them multiple times in the age of what the OEM will last.
Sway bar links and the bar itself will be up to you as if you want to improve the handling of the car.
You'll want to consider purchasing a suspension refresh kit (
https://www.europaparts.com/suspensi...rs4-b6-b7.html) this will take care of all your bushings and rubber parts.
Depending on the mileage of the car, you may want to consider replacing wheel bearings while your doing all your suspension work.
If your suspension is as bad as you say it is, then you'll also want to pick up a set of inner and outer tie rods. Again, Lemforder is the OEM brand.
And lastly, most of the suspension bolts underneath your car are torque to yield and may need to be replaced.
By the way, when I rebuilt all of the suspension on my car, I had 182,000 miles on all of it with without a single noise or driveability issue coming from the car. OEM is the way to go. Hell, the shocks/struts were still rebounding and not leaking! Sure wouldn't find that on a good ol' GM.
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