A6 4F, Year 2009, Rear Axle Oil Change

I was asked today if I could change the rear axle oil for a friend's A6 4F 3.0TDI Quattro.

I thought that Audi had come up with something new, but after reading some posts online, I'm still not entirely sure.

According to what I've found, it's the same opening for both draining and filling. It reminds me somehow of the Golf 4 with Haldex, where you also had to "press in" the oil.

Is there perhaps a cartridge available for purchase that allows you to do this, or is this method already implemented here?
Hopefully, someone here has already gained some experience.

Greetings

As far as I remember, there should be a fill screw in the area of the drive shaft, and a drain screw from below.

A good approach would be to take a look at that when I eventually get the vehicle.

Thank you very much.