Fig. 1 Tightening clamps
WARNING: This page is about a different car, the 2024 Audi S6 and 2024 Audi A6 Quattro. However, it is still accessible from the selected car via links, so may be relevant.
Courtesy of AUDI OF AMERICA, LLC
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Fig. 2 Removing outer CV joint
Courtesy of AUDI OF AMERICA, LLC
-- Clamp driveshaft in vise with jaw covers.
-- Remove clamp.
-- Push back boot.
-- Turn in -M16- threaded end of special tool :3207
until CV joint is pressed off splined shaft.