How does one get at the O2 sensors?
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Removing or installing the pre-cat sensors (S1s)in the allroad requires a oxygen sensor socket (with split in side to accomodate wiring) and a really long extension. You attack them from above and diagonally from either side behind the engine.
I haven't messed with the post-cat sensors, but I'm sure you have to get them from the bottom.
<img src="http://www.impexfap.com/partpics/resized/rsDSC03760.JPG"><ul><li><a href="https://forums.audiworld.com/allroad/msgs/54005.phtml">How I replaced mine before the recall (not that my car qualified anyway)</a></li></ul>
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