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How do I activate the Audi A5's adaptive cruise control?

I recently purchased an Audi A5 and I am trying to activate the adaptive cruise control feature. I have read the manual but I am still not sure how to access it and use it. Can someone give me step-by-step instructions?

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To activate the adaptive cruise control on your Audi A5, first start by pressing the 'ACC' button on your steering wheel. Then, use the control stalk on the left side to set your desired speed. Keep your foot lightly on the gas pedal and let the car take over from there.

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