Did mine over the weekend, not a bad job, but there is a detail I didn't see in any of the write ups or youtube videos: Audi apparently uses a sleeve insert for the spindle, that may or may not come out with the ball joint. A tie rod puller works perfectly to pull these back off of the old control arms without damaging them. Used a C-clamp and the old nut from the ball joint to press it back into place.
If the sleeve comes off and you forget to put it back on, the taper on the ball joint will have nothing to fit into and it won't go together again. At least not properly.
Just wanted to make a quick post for those that might run into the same issue. Happened on both rear lower arms I took off. The front lower arms didn't have the issue for whatever reason.
Also, FWIW, I did not need a ball joint separator. A few whacks with the big hammer and they came right apart.
Good luck.
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