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How do you activate the Audi A4's lane departure warning system?

I recently purchased an Audi A4 and I've noticed a small icon on my dash that looks like a car with arrows on either side. I've heard this is the lane departure warning system, but I can't figure out how to activate it. Can someone explain the steps to activate this feature?

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To activate the lane departure warning system in the Audi A4, first press the menu button on your steering wheel.

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