Apparently the repair shop claimed they had to remove door to do the work and they had trouble getting door adjusted properly. Anyone have any suggestions?
I've done my driver door regulator twice and you do not need to remove the door. If you follow the repair manual instructions, you do need to remove the door lock. Verify which they actually did because removing the whole door would be overkill.
Then check if the door itself is rubbing somewhere, or if the door lock is rubbing on the U shaped locking post. If the door is rubbing along the bottom, then the door needs adjusting. There's a thread on there about hinge shims.
If the door is OK at the bottom but rubbing at the top, then they put the door back together incorrectly. This thread has photos of what they had to get in to.
http://www.clubtouareg.com/forums/f43/window-regulator-help-77175.html
If it's just the lock then that can be adjusted easier.
(Note: when you replace the window regulator, the entire top of the door with the window frame and everything comes off but the bottom part with the hinges stays attached to the car ... perhaps that's what they meant when they said they had to take the door off.)