2005 Audi A8 Quattro Questions

All 2005 Audi A8 Quattro Questions

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Any issues with this model?
When I start my car, the esp light is not on but as I'm going down the street maybe 15/20 mins later, it pops on and stays on until I cut the car back off. This is happening everyday. Does it have anything to do with ...
I got both lights on the green n yellow but the green goes off the yellow stays on n it air low
pushing the rear caliber piston in
Today I got an estimate from Audi for the exchange of the catalytic converter (driverside) of 4600,-, RepairPal estiamtes at max. 1193,- Can you name a mechanic who would the job for this money?
I need to add oil. What type do I use.