[Brian in Tucson]

Find a nice independent Euro car shop and get a second or even third opinion. Probably the most labor intensive part is taking the transmission out to get the RMS. But while it's out, the cv axles could be cleaned and new boots could be installed, and the trans pan gasket could get replaced.

I wonder if the dealer is figuring the labor for each repair separately. Only need to take the trannie out once for most of this. The AOS could be replaced while the trannie is out and the rear of the engine is easier to access. While you're having all this work done, get a magnetic drain plug, cheap. And a water pump.

6 G's is just insane!