[V8] 2002 A6 Avant front axle

[toml99 at todomundo.com]

Hey, got a friend that I was going to help replace the front left  
axle, and found the replacement procedure in the book that called for  
removing both control arms....Just wondering if anyone's done this,  
and any helpful hints.  Car also goes into limp mode when started,  
then immediatly shut off, and restart, and no limp mode...Ha.  He's  
most likely just going to sell it once the axle gets done, so just  
trying to help.  Anyone with any BTDT would be appreciated.....Tom