I can’t find all my pictures so I just tossed something quick for you.
The first thing the guys are talking about is broken or studs that back out. This one broke and then I had to drill it out. I had to do one that was so bad I had to dill it out and then the drill made the hole bigger so I had to use a nut and bolt rather then a stud.
http://audirevolution.net/addons/albums/images/44482203.jpg
The Dp removal on the RS4 is pretty strght forward other then making sure to check for and spray the studs on the Dps.
Here is what it looks like under the car. This is the JHM 2.75 full exhaust. Stock obviously isn’t going to look this good but this helps show a much cleaner idea without the cats in the way.
http://jhmotorsports.com/products/pictures/exhaust/B7-RS4/JHM_RS4_2-75_V2_Exhaust-X-pipe_installed_undercar_horiz.jpg
Here is a quick look of what the RS4 dps look like off the car they are not very big at all
http://jhmotorsports.com/shop/catalog/images/JHM_B7_RS4_Piggies.jpg
If your not formilure with how the audi stock exhaust works its clamped together by a sleeve system. When you look at it under the car the sleeves look like this. You can see it here with the two big 14mm bolts sticking out
http://jhmotorsports.com/products/pictures/piggies/JHM_Piggie_Pipe_Install_Help.jpg
In the picture above it talks about getting the 02s unplugged. Most of the Audi cars the 02s are on the fire wall on the Rs4 the 02s are bolted on the passenger side of the transmission. It can be hard to see but this is a look up at them. Its hard to see you need to get the right angle.
http://audirevolution.net/addons/albums/images/307229384.jpg
Just to give you a refrence if your laying on the ground this is how close the bolts are on the driver side dp.
http://audirevolution.net/view-image/959/rs4-driver-dp
Really the entire thing is easy to do.
Jack the car up. Let me know if you don’t know the jacking points. There easy to spot of you don’t
try to have the car semi warm
jack the car up.
spray the dp studs before you do anything
Pull off the clamps. You might have to pull back on the catback to get the clamps off.
By this time the penetration spray should have taken effect. Take off the nuts on the Dps.
From here you can take out the 02 sensors. They are a 21mm or you can reach up on the side of the passenger side of the transmission and un hook the wires from the holder and then unplug each wire.
This should give you a good idea on what it will take and what your looking at.