WARNING: This page is about a different car, the 2024 Audi SQ7, 2024 Audi Q7, 2023 Audi SQ7, and 2023 Audi Q7. However, it is still accessible from the selected car via links, so may be relevant.
Fig 1: Footrest
Courtesy of AUDI
-- Pry off the cap -3- with a small screwdriver.
-- Remove the bolt -2- behind it.
-- Pull the footrest -1- downward -arrow- and remove it.