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the audi S4 is one of the more difficult cars to do an install in. There is no hole in the firewall to pass a wire through, and the engine bay is very packed & hard to work in. You'll have to drill a hole, good luck not hitting anything. Might want to look into having a proffesional do it if you're not comfortable, i know we all hate admiting defeat but its not worth drilling into your S4 unless you know what you're doing. Don't even think about trying to get power from the fuse panel...
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