For 1996 A4 Quattro B5 Audi recommends to use: and genuine OEM steering fluid with a part number: G 004 000 M2. To select the right steering fluid see the table below.
How much steering fluid you need to put into 1996 A4 Quattro depends on the engine installed, and some other conditions listed below.
Please be noted that all capacities listed here are approximate. Check fluid levels when adding or refilling as recommended in your 1996 Audi A4 Quattro user's manual. Keep in mind that all information here is provided “as is” without any warranty of any kind.
Before doing any DIY service please check your insurance policy and Audi warranty policy for your region. In some regions DIY service may invalidate your warranty.
DIY car service is not as difficult as it looks like and it might save you thousands of dollars per year. It might be even fun and a good thing to do with your kids on a weekend to teach them how basic machinery works. It's really hard to screw something up and damage your car permanently if you use right tools, follow Audi A4 Quattro service manual and use right parts and fluids in prescribed amounts. Even modern cars stuffed with electronics can be serviced in your garage or even in your driveway. Changing engine oil, brake fluid, ATF, replacing brake pads, and etc. It's all may be done by yourself in a mater of a couple of hours.
Doing basic service for your 1996 Audi A4 Quattro you're not only saving money, but also also improving your technical skills and learning something new.