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Anyone replaced one ?

I tried today and couldn't get my one off. I couldn't undo it from the steering rack.

Is there a technique to it ?

P.S My car pass its MOT with flying colours

http://www.audiworld.com/tech/wheel29.shtml
used this link and managed it. have to undo retaining nut then should be okay.

I had a similar problem last year and it was a complete pain in the ass, i ended up taking it to a mate who did it in about 20 mins