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I have searched and seen some people remove the torque tube and some don't. I have a 2-post lift and I want to do it right but I also don't want to waste a lot of time doing thiings that I don't need to do.
No you dont have to remove the TT to remove your A4.
But I'm wondering why you think it needs to be replaced, run your car at 60 mph in 3rd gear and note the engine rpm then publish it here on the forum.
I'd bet you dont have 2.73 gears in the rear.
I thought the 1 to 1 ratio (3rd gear in A4 & 4th in M6) matched your engine rpm and rear gear ratio at the speed of 75mph.
Far as pulling the TT with the trans, I think it is easier if your LT headers aren't in the way. If you have to remove your LT headers than I would leave the tt in.
Sounds like your trans needs rebuild, if it's slipping and bouncing off the rev limiter before it shifts.