It's been a few years but I was happy with European Technicians, 1 Lackawanna Place, South Orange. (973) 763-4849. My car was a VW but he repairs Audis also.
I recommend George at International Motors (its in the back behind the little mall (there's a tile or kitchen store there I've never been to!)
He takes care of my BMW and Saab. On multiple occasions I've been there when Audi RS or S owners are in -- I overheard a great convo about how George diagnosed the problems -- and happened to read the black box so he knew the guy had taken the car on the track and was doing overly high rev shifts.
Garden State Gulf at Millburn and Valley. Ira is the owner, great guy with lots of Audi experience. 973 762 6552
Took care of my Audi for over 10 years. Right next to Audi dealer.
I definitely recommend Dave at European Technicians. He's a really nice guy and does great work, very fairly priced.
2007 Honda Fit $4,400
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My Audi is now out of warranty and I don't necessarily want to use the dealer for repairs/maintenance, but does anyone use a private repair shop for their Audi (with satisfaction)? Thanks