The subframe/steering assembly is super easy to take out. I'm sure you could do it on jackstands, you'll just want a jack to lower it as it is somewhat heavy.
I can usually have an A5/A6 FWD subframe assembly out in under 20 minutes. May take a bit longer if one of the tie rod ends or sway bar links is frozen. But usually for me they are not.
Remove the lower steering shaft cover (2 flat screw type retainers), then remove the pinch bolt and slip the shaft up off the pinion. It only goes on one way, no need to mark it. Just make sure the steering wheel does not get rotated (secure it with a bungee cord if you like) so the steering angle sensor and clock spring do not get damaged.
Then, remove the air cleaner, remove the battery, and battery tray. Then remove the steering wire harness. One ground, one power at the fuse link box, then the data connector near the headlamp, fish it up and out of the tray and push it back down under the master cylinder area. It will come out with the rack.
Then working underneath, remove the outer tie rod end ball stud nuts and pop them loose from the carriers, remove the upper sway bar links (links will stay on the bar as you remove the assembly), remove the two roll mount fasteners from the transmission case, the six nuts securing the control arms to the ball joints (three on each side), remove the two fasteners securing the exhaust hanger to the subframe.
Then six big bolts and the whole thing drops right out. Easy peasy. Then you have all the room you need to deal with whatever you are doing.