I had the steering wheel clunk that I've read about here from some folks. Mine is a 2010 A4 with the good old hydraulic power steering. I replaced the intermediate shaft and it wasn't bad at all, took <1 hr all included. Factory parts were <$300. Here are a few highlights and tips:
Tools:
10mm XZN socket (triple square) like this https://www.amazon.com/Capri-Tools-3.../dp/B00ESMZZHO
3/8 Torque wrench for 30 Nm torque
Parts:
8K1-419-753-H Intermediate Shaft (the part that came out was -C, so perhaps it has had some revisions and improvements since 2010!)
N-105-184-05 bolts 2x suggested to be replaced
Torques:
Bolts are 30Nm + 90 deg
Tips:
Easy bolt access under steering column and under vehicle on steering rack.
Pull out the steering shaft from the interior side, start by persuading the rubber boot lip on the outer firewall to push into the interior side
Replacement is the opposite- introduce the steering shaft from the interior side and push the rubber boot into the inner firewall hole.
Use rubber boot pull taps on the outer firewall side to pull the rubber boot lip past the outer firewall flange for sealing.
Inside needs a little persuading as well, but easer than the outside.
Enjoy the silence.
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