......I loosley followed this article AudiWorld Tech Articles and managed to do the job.
I must say that the above article makes it look easy but its a bugger to get the motor mechanism and linkage arms out even with the ecu moved out of the way (I couldnt move the housing out of the way due to connecting wires) looking at the pictures on that article I dont think the car is a B6.
Anyhow a lot of wiggling later and I managed to get it out, took it apart and the drivers side spline was nearly siezed dont know how the motor managed to move it at all, with it gripped in a vice and loads of lubrication later the spline was out, I managed to clean all the old dried grease out of the shaft and from the spline.
Now with it all cleaned up and regreased it went back together without an issue.
One tip I would say is when putting it back pop off the top linkage arm from the centre motor the whole mechanism will slip back in easier then you can reconnect this once its in place. You may have to plug it in and give the wiper motor a revolution stopping it in the right position so the centre ball joint its accessable by turning the ignition off then simply reconnect the linkage arm.
ECU, bolts and trim repositioned and tightened without any issues jobs a good one and now they are working just as they should!!
I didnt take any pics as that above article more or less shows you what you need to see.