This is a Sportback, but the bottom of my S5 is very similar. It's just missing those long braces that run diagonally at the rear.
Here's what I did with mine.
Jack the car up at the pinchwelds (green). I was able to get the whole side of my car up using the front jack point, but you may need to use the rear one to get everything leveled out.
Place a backup jackstand under something solid just in case the jack fails while you do this part
DO NOT CRAWL UNDER THE CAR AT THIS POINT
Reach your arm, and ONLY your arm, under the car to remove the two plastic covers in blue. Each one has one captive 10mm nut, and one plastic push fastener.
This will expose the inner frame rails. It's a large, flat and level surfact that's perfect for a jackstand. Remove your backup jackstand and place jackstands in locations marked in red.
I'm really not happy with the rear location. Those subframe joints are round, and don't sit on the jackstands as well as I'd like. I think the subframe itself is ok, but I need to get them seated better.
I actually have all 4 wheels still on the car, and I've got backup jackstands sitting the pinch weld jack points with about an inch of gap. It'd probably tear up the car if it fell, but I'll take that trade off in a heartbeat if it keeps me out of the ER or the morgue.
I've seen other people use the rear control arm bushing as a jack point, but I'd rather use a fixed point on the frame or sub-frame.
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