WARNING: This page is about a different car, the 2005 Audi A4, 2004 Audi A4, 2003 Audi A4, and 2002 Audi A4. However, it is still accessible from the selected car via links, so may be relevant.
Fig 1: Removing Selector Shaft Seal
Courtesy of VOLKSWAGEN UNITED STATES, INC.
NOTE:
With transmission removed but not disassembled, carefully lever out seal without damaging the shaft with a screwdriver.