As your car is a 96, it will more then likely have the four speed box, which is said to be stronger then the fifth speed. Some people think its a good idea to change the fluid, others say if it hasn't been done regularly and you change it for the first time in x amount of years you could end up doing more damage then good, I would leave it as is, especially if it is a four speed.
Follow this guide for part numbers and DIY instructions, welcome to the forum. 
http://www.audipages.com/Tech_Articl...servicing.html
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2009 Audi RS 6 Saloon V10 - 420mm Ceramics, Keyless, Soft Close, Adaptive Cruise, Glass Sunroof, Blinds, Twin Pane & UV, Freeview & DAB, High Beam Assist, MTM bits, Audi Exclusive Bits, MRC, Milltek, GYEF1 ASY2's, Bluetooth streaming music to AMI mod - 753 PS/1021 NM
2016 Audi S3 Saloon, Sepang, S-Tronic - B&O, Tech Pack etc... Company Car
1995 Audi A8 4.2 V8 quattro Sport - Bose, Solar, Blinds
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