I was cleaning through some documents on my computer and ran across this post from woofpup I saved. I think I remember someone requesting this a while back, but here it is now. I think woofpup's pics might've been taken off his picposter...so the red x's come up. So hope it helps someone.
I have it all saved in a word document if anyone needs me to send it to them.
My trim pieces ("decorative panels" Audi calls them) are wood and therefore have a metal backing, so the clips are sturdy. However, someone with aluminum said something about the backing or clips being plastic and therefore easily broken.
I think if you're careful, you should be fine. With that in mind, the procedure for removing the decorative panel is described as "unclip decorative panel, remove decorative panel toward front." What you actually need to do is pull the piece out at the end closest to the front of the car, then pivot it out and slide forward and out. You'll find it has a sort of hinge at the rear you have to slide it out of once the clips release.
Behind this decorative panel are four bolts you must remove (labelled as 2 in the image above)
Now for the driver's door, there are two bolts (number 3 above) under an oval trim piece (number 5) that unclips.
Finally, remove the bolt at the bottom of the door panel (number 6).
You can now unclip the door panel, raise it upward (manual says approx. 20cm) out from the door, and disconnect the eletrical harness and door latch cable. You unclip the door by basically pulling it out with some force. The door latch cable ("Bowden cable") has to be released at the door handle end - remove the securing ring and then pull the cable out of the guide.
"When installing, speed nuts (number 1 - four of them) for the expanding nuts (number 7) must be clipped in.
"When installing, door trim must be pressed in the middle to door shell."
Also, check to make sure all of the plastic clips are on the door panel and not stuck on the door.
The other doors are similar, just varying in bolt numbers and location, and there is speed nut that goes in the middle of the door panel behind the decorative panel.
It's a bit easier to understand all this with the CD though... It's difficult to cut and paste the instructions and images, unfortunately.