Install Driveshaft on Rear Final Drive.

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Install in reverse order of removal. Note the following:

Remove the old, dry High-Temperature Grease from the CV joint and the driveshaft flange. Fill with the exact same amount of new High Temperature GreaseG 000 633.
The threads in the flange shaft on the rear final drive must be cleaned of locking fluid residue. They can be cleaned with a thread cutter. If the threads are not clean, the bolts will break off when they are being installed.
After removing the driveshaft from the rear final drive, do not install the additional balance washer (thicker washer) that may be between the lock plate and bolt.
Always replace securing bolts for driveshaft (self-locking bolts).
Check the driveshaft seal on the rear final drive flange for damage (bent, rubber layer worn off) and replace if damaged. Replace the damaged seal.

-- Position the driveshaft on the rear final drive:

Fig 1: Identifying Mark Position Of Driveshaft Flange To Rear Final Drive

Courtesy of AUDI OF AMERICA, LLC

The dots on the driveshaft -arrow A- and on the rear final drive -arrow B- must line up.
Maximum difference between the markings: 30°.

-- Insert and tighten the new bolts -1- for the driveshaft. Follow the tightening sequence. Refer to Figure.

Fig 2: Counter Hold Using Counterhold Tool Touareg V10 T10172 And Adapters T10172/5

Courtesy of AUDI OF AMERICA, LLC

-- Install the rear section of the exhaust system. Refer to 2.0L - EXHAUST SYSTEM & EMISSION CONTROLS - ENGINE CODE(S): CAEB & CAED or 3.0L - EXHAUST SYSTEM & EMISSION CONTROLS - ENGINE CODE: CPNB .