I've got an Audi rack for an S3 - the front bar fits into the recess when you open the doors, and the rear bar you pop open the rear windows and it attaches into the frame before you close the window. Hope that helps.
I got it second-hand a few years ago for about £50. It is the proper Audi Approved accessory sold through dealers and made by Votex. It is pretty sturdy and locks onto the car - also got a luggage basket as well.
It only fits a 3 door though. Whereabouts are you? I'm happy to let you borrow it if you need it for a one-off trip. Alternatively keep an eye on the for sale section or eBay - they come up once in a while and there is a few months before the ski season.
I ended up buying the Thule on for my motor (5-door though) and found it to be excellent. Used it to carry two bikes for a good distnace several times now.
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