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I'm sorry but I'm going to have to step in and say that audi arn't all that great yeah thay can be a really nice car but there is much better out there.
just go to 2WD, engage the parking brake, and gas it to 6,000 rpm at neutral, then switch to D1 while your foot is still flooring the gas pedal. oh and be sure to have 5g's handy for a transmission job pretty soon