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What is the proper way to perform a DSG transmission fluid change on an Audi A4?

I recently purchased a used Audi A4 with a DSG transmission and was wondering what the recommended procedure is for changing the transmission fluid. Any tips or specific tools needed?

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According to Audi's specifications, the DSG transmission fluid should be changed every 40,000 miles. It is recommended to use the specific tool, VAS 6262A, for draining and refilling the fluid.

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