I've seen this question come up a few times and from what I've seen there is no need to replace all four, what seems to be most important is to ensure tyres on the same axle match.
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Cars...
'93 Audi Coupe 2.0 Alpine White (sold)
'99 Audi S4 Merlin Purple - K04 upgrade to 412hp (sold)
'00 Audi S8 Agate Grey (Sold  )
'11 Audi Q7 4.2tdi Unknown Red (Classic Red Pearl Effect - thanks MJ)
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