In an ideal perfect world this is the way that it should be done.
However with the B7 and older cars it is really hard to reach the upper control arm inner rubber bushing bolts and nuts. So I tighten the front upper control arm inner rubber bushing bolts and nuts off the car. In the repair instructions (ELSAWEB or Bentley) it explains how to tighten the front upper control arms off the car to the top of the front strut/shock housing. Basically they say to put a straight edge across the top strut/shock housing, get the control arms slightly tight but still loose enough to be moved, get the front ball joint section of the control arm a set distance from the straight edge, and tight the bolt/nut for the bushing side. It is something like 75 mm/3 inches for the rearward curved upper control arm and 84 mm/a little less than 3-3/8 inches for the forward straighter upper control arm.
The most important control arm bushing hardware to be tightened under load is the lower strut/shock to the straight lower control arm. That rubber bushing really controls the ride height and sees a lot of stress. A bunch of RS4s got the DRC replaced under the recall and techs would mess that part up. Which would cause the RS4s to not sit correctly. A RS4 customer of mine had his DRC replaced at a different dealership because of it failing and it had to be towed. He said that when he got the car back that he could fit his whole hand between front tire and the front fender. When before he could only get two fingers between the same place. He also said that he had to divorce his wife for the same problem and that he would rather keep the car if possible. Simple fix after getting the car on the alignment rack. Too bad it wasn’t such an easy fix with his wife.