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The Audi S4 requires M14 X1.50 lug nuts with a 17mm hex size. To remove them, use a 17mm socket. While it's okay to use an impact driver for removal, avoid doing so when reinstalling to prevent excessive torque that could damage the wheel hub studs. Use a calibrated torque wrench when putting the lug nuts back on to ensure they meet the manufacturer's recommended torque specification and remain secure while driving.
The lug nuts for an Audi S4 have a 14-millimeter by 1.5-millimeter thread size, a 17-millimeter hex size, and are 57.5 millimeters long in total.