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I have one in my Audi and just got a a new rolling code door. I cleared the old codes by pressing 1 and 3 for 20 sec then held the remote up to it and press the remote and the number that you want to program. Then pressed the "learn button" on the unit itself and then pressed the same button on the homelink and voila it worked. Not sure if it's the same direction as P-car but my Audi manual instructions were terrible!!!
hope it helps
2001 Boxster seal grey/bk/bk Nak cd400/racing red calipers
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