With the car on the ground, slowly turn the steering wheel left and right. There should be no play, otherwise it should be adjusted.
Set the wheels to the middle position.
Slowly turn the adjusting bolt approximately 20°.
Check the adjustment during a test drive.
If the steering is difficult to operate and does not return to the center position on its own, the adjusting bolt should be loosened.
The steering still has some play: tighten the adjusting bolt a little.
(The original article is available on the online resource: AUDImanual)