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Yep, you sure can. I just figured this out today, as I'm still learning about all the neat technological features of my recently delivered A5.

Setup > Sound > Volume Settings > Audio during nav guidance
 

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also, when she is speaking, you can use the volume to adjust it up/down then as well
 

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Quick way of doing it if you miss her speaking is to get her to repeat her last instructionm, by pressing in the right button on the steering wheel, and while she talks, put the volume up.
 
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