I just got around to removing the abs module in my S6 and just wanted to share my experience since I can only seem to find posts related to the A6.
As far as I can tell, I don’t think there is a way to do this without removing the brake lines from the pump. I watched a couple videos from cheapabs, and it looks like the setup is slightly different on the S6. The abs pump has two lines that run right behind the abs module, so even if you were able to make enough space to remove the fasteners on the module, I don’t see a way that you could separate the module from the pump.
Even after removing the lines, it was a pain getting the pump out. The lines are all over the place and the unit is right up against the body. I had to removed the bolts on the bracket for the abs pump and the power steering reservoir to get a bit more space to swing the unit around. A long flat blade helped to pop the rubber mount out of the bottom of the bracket. After lots of swearing, it did eventually come out though. We will see how it goes back in and the bleeding process.
Has any one else done this job? I’m sure there is a better way, but sometimes you just gotta figure it out on the spot.