I wondered if you could use the clutch pedal part off the C5 and make it fit the existing D2 pedal box?
Never seen either, so only taking a stab in the dark about what might be compatible. If it's been done before then there must be info on the interweb somewhere?
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===SOLD===2002 Audi S8 D2 Final Edition (yes, really) in Avus Silver with purple extended leather===SOLD===
2011 S5 Sportback in Phantom Black with black Super Sports leather, 9x20s, tech pack high, adaptive xenon plus, intelligent key, memory seats pack, sunroof, B&O, Audi Drive Select & quattro Sports Diff, DAB, parking system plus
2015 VW Golf GTI Performance Pack in Carbon Grey with black Vienna leather, tech pack (Discovery Pro nav & Dynaudio), DCC, factory towbar and retrofit RVC
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