ever change a rear-main oil seal in 2001 A6?

[VFChris@aol.com]

Is there anything tricky to look out for?  
 
Is it better to pull the transmission, and work on it under the car; or  
better to pull the engine, and work on it out in the open?
 
Secondly, this car has less than 25k miles on it, but is out of warranty  due 
to age, and I am a little upset that I have to do this at all!   Has anyone 
had any experience getting Audi to fix this as a "good will" for a  low-miles 
car that is out of warranty?
 
thanks in advance for any help.
 
_VFChris at aol.com_ (mailto:VFChris at aol.com)