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That's a very odd thing to replace. The tube probably has a single support bracket holding it in place, and probably one o-ring sealing it low on the engine block. Unbolt the support bracket, and work (rotate) the tube back & forth while you pull it upward. I'd advise cleaning that area of the engine block really thoroughly first, so dirt doesn't fall through the hole down into your motor oil.
Switch ignition ON. Pull and release the right down button beside the speedometer. Within 5 seconds do as below: Pull and hold the same button until the message will say : SERVICE IN -------MIL/KM------DAYS appears on display. Release the button Switch off ignition.
Audi fit two types of dipstick,one has chequered markings the other has a line on the flat part of the plastic sensor,halfway up the chequered marks or on the line is enough.....check the oil level every 500 miles (see handbook).