Unless Audi power steering systems have fundamentally changed since 2005, they are self-bleeding simply by using it. I'll be re-filling the system on Neil's 3.7 in about an hour after a rack swap yesterday and all it needs is to swing the steering from side to side 3-4 times and it will purge any air out on its own. Conceivably it could require a top-up in after driving it home, but there's nothing to do after that.
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