That's pretty typical for an Audi. And I'm sure you know this, but don't ever take it to a dealer. If it's not brand new they don't care about it. The control arms that you mentioned are a very common problem but an easy fix - I think mine took half a day when I did it in my driveway. If you think the A4 is cramped in the engine bay, you should see the S4 - you have to pull the engine to change the clutch, turbos or any number of other things that could be a lot easier.The fiance has a '00 A4 2.8 30 valve and it has been nothing short of a money pit. Needed all new front suspension (eight control arms, sway bar links, tie rods) at approx 70K as ALL the 'lifetime' bushings were bad and things were creaking and knocking (did myself). It has been leaking oil from one place or another for a couple years....I have found what I can, had it into the shop several times....last time to reseal the oil pan...oh yea you need to drop the ENGINE to replace the oil pan gasket!!!
Tranny was acting up...thought I would flush and refill the auto....NOT. It is yet another 'lifetime' deal. No drain, no dipstick, and no filler.
Things are just so crammed in the engine bay, and so overwhelmingly poorly engineered that even the most basic work is not possible at home and ends up costing WAY more that it would for any other car.....
Oh yea, take the audi to the dealer....and they wash it with the windows down..and did not notice!!!!!
I love my Audi and it REALLY shines when shuttling gravel roads but I'd say stick with the Subaru unless you really like working on your own car.