Voomon

After replacing the RCG I now need to replace the cam seals, question being is there any special tools required to either remove the old ones to install the new ones?

indoor

What is RCG?

Anyway, here you go: t
That is for a 2.8L engine but 2.7L is similar.
If you take the valve covers off you should replace the cam chain tensioner gasket and half moon also. Here: Also see part two, of course.

On each bank(passenger or driver) you can replace all of these seals.

Old_School_Audi

RCG... I had to Google that. Rocker Cover Gasket. That's not a term us Yanks are familiar with. Even VCG (valve cover gasket) would be Greek to many people

too many acronyns and slang on the forums to keep track of.

To awnser the O.P. (original posters) question. There are
Audi/VW specific tools to remove and install the cam seals. I've worked without them for years without any issues, but I've also spent the time to fabricate my own seal installers. I've heard of people taping the seals in with hammers and sockets. To each his own.