Yep. That is what I thought when I saw "liftgates". I agree with kakarot on getting the wastegates out and clean them before moving on. The turbos may still be in good running condition for a few K miles.
On the other hand, if they are willing to put in new turbos for $3300 with labor and parts included I would let them do it, keep all the old parts and skip the hassle and unknowns.
According to both the Audi dealer and the dealership where I bought my car the engine has to be removed in order to replace the stock turbos. I received the revised estimate today for $1,860. Much, MUCH better than $7,000!
Thanks to everyone for all the help. You all have helped me maintain my sanity and composure while I dealt with this.