I've been back for a few months lurking after our move last summer.
After some recent fireworks, it seems my car has a burnt exhaust valve in the #2 cylinder (passenger's side). The manual says for the early cars you can remove the head with the engine in the car. Can you remove the heads on the S4's with the engine in place? Any good tricks?
'87 5sp 92k
Yes. The only cars that are really difficult are the '85 - '86 four-valve engines, as these used studs rather than bolts to retain the heads.
My only suggestion is to make really certain that you actually have a burned valve before you pull the head.