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Have your local Audi dealer pull the maintenance history on the car and print it out for you. There was a service bulletin on the output shaft leak, the "fix" design changed a couple times, it's likely it's already been fixed once. If the new housing has been put on, it'll save you a fair bit of money. You'll need to know which housing you have before you order the seal. Doing it at the same time as you do the exhaust makes a lot of sense. If you should have the entire exhaust out, clear the AC evaporator drains while you're down there.
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