Yes, but it will be a significant effort. To my knowledge nobody has actually done it yet. I have a 5-speed Audi 01E Quattro box and just the parts needed to update it and convert it to a 6-speed 2WD box would cost me nearly $3,000. It would be cheaper to source a new or used 2WD transmission in Germany and have it shipped to the US than to convert an AWD box to 2WD.
Use the search function as this topic has been discussed quite often.
