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Blauparts Audi A4 wheel bearing kit makes replacing rear Quattro Audi A4 wheel bearings easier
Audi parts you really need to perform repairs by packaging them together
You can buy a kit that is for replacing the rear wheel bearings in an Audi4. The Blauparts kit includes instructions on what to do.
Without knowing the year of your car it is hard to say. I would imagine that it would require removing the rotor then pulling it out with a special tool.
In order to perform your rear wheel bearing removal you will need to get under the back of your car. Once under the car you can remove it when you get near the brakes.
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