In my experience, an Audi Dealer would be well able to do the work. I had the selling Dealer change the atf & filter when I bought the D3. My local Dealer also changed the atf & filter twice during my D3 ownership. I cover a lot of miles !! Never had an issue other than its a €500+ job due to the high cost of the atf fluid and 2-3 hrs labour.
My D3 was a 3.0TDI but the job wouldnt be any different on a 4.2.
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