Two solutions. I prefer to make a new linkage from M6 race car ball joints and some M6 stainless threaded rod. I cut the original ball joint off the metal bracket which goes round the control arm (assuming its salvageable) and bolt the race car joint to it.
The more stock option is to buy an aftermarket sensor for the C5 A6 which usually comes with a new arm. Press out the bushings and ball joints from both arms and press the new ones back in to the original D2 plastic arm.
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