I assume no responsibility if you screw up your Touareg whilst attempting this procedure.
You'll need very few tools for this job, as nearly all of the fasteners are T20 Torx screws of the same length. You'll want to get your hands on a bit wrench for the motor removal though:

Make sure you have access to VAG-COM too as you'll need to set the motors in "Service Position" before starting and then re-learn them all when you're done.
VW Touareg (7L) Heating/Air Conditioning - Ross-Tech Wiki
I used the following instructions for this procedure & I read it several times to familiarize myself with it.
http://vwts.ru/body/touareg/tou_70-01.pdf
There are a few things I didn't do which I wish I had. Firstly, remove the a-pillar trim on both sides, then remove the steering column trim. I scratched the hell out of mine maneuvering the dash panel in & out. Removing the steering wheel isn't necessary.
I'll post the pics in the order I took them
First, remove the radio. If you can't do this, stop now & pay someone to do the rest of the job.
Next, remove all of the switches. The plugs are indexed, so no need to label them
Next, remove the HVAC control unit (you put everything in service position, right?)
Next, remove all of the belt-line trim. The one above the glovebox has a fastener just inside the radio housing (shown here)


Pics of all the necessary trim coming off (it all pulls off)




Under-dash panels


Disconnect the OBD port & lights

Next, the driver's side knee panel

Then the remainder (make sure to reference the above PDF for screw locations)

Pics of wiring pass-through locations


I have an iPod adapter (shown in this pic)

Pics of the HVAC system, post knee bar removal




Cluster & hood removed

Center vents removed (it just pulls out, mind the clips)

I didn't take pics of the screw locations for the remainder of the dash panel, but there aren't many.
Once they're removed, the dash comes off with a tug, then lifts out. If you followed the instructions posted, the passenger airbag is still attached, so it's a bit heavy on that end (you did remember to disconnect your battery, yes?)
Pics of the dash removed




Pics of the motor I was replacing (I'll include a list of which is which, based on any codes you may have)


Once the motor was replaced, I reconnected the cluster, the HVAC control unit & the battery, allowing me to test the new motor & run it's adaptation. Obviously doing it this way will throw a lot of codes, but you'll have access to VAG-COM if you're doing this anyhow.
After all the self tests passed & I had no (HVAC) codes, I reassembled everything in reverse order.
I'll update this post with the motor list once I scan it & upload it.
Good luck!
You'll need very few tools for this job, as nearly all of the fasteners are T20 Torx screws of the same length. You'll want to get your hands on a bit wrench for the motor removal though:

Make sure you have access to VAG-COM too as you'll need to set the motors in "Service Position" before starting and then re-learn them all when you're done.
VW Touareg (7L) Heating/Air Conditioning - Ross-Tech Wiki
I used the following instructions for this procedure & I read it several times to familiarize myself with it.
http://vwts.ru/body/touareg/tou_70-01.pdf
There are a few things I didn't do which I wish I had. Firstly, remove the a-pillar trim on both sides, then remove the steering column trim. I scratched the hell out of mine maneuvering the dash panel in & out. Removing the steering wheel isn't necessary.
I'll post the pics in the order I took them
First, remove the radio. If you can't do this, stop now & pay someone to do the rest of the job.
Next, remove all of the switches. The plugs are indexed, so no need to label them
Next, remove the HVAC control unit (you put everything in service position, right?)
Next, remove all of the belt-line trim. The one above the glovebox has a fastener just inside the radio housing (shown here)


Pics of all the necessary trim coming off (it all pulls off)




Under-dash panels


Disconnect the OBD port & lights

Next, the driver's side knee panel

Then the remainder (make sure to reference the above PDF for screw locations)

Pics of wiring pass-through locations


I have an iPod adapter (shown in this pic)

Pics of the HVAC system, post knee bar removal




Cluster & hood removed

Center vents removed (it just pulls out, mind the clips)

I didn't take pics of the screw locations for the remainder of the dash panel, but there aren't many.
Once they're removed, the dash comes off with a tug, then lifts out. If you followed the instructions posted, the passenger airbag is still attached, so it's a bit heavy on that end (you did remember to disconnect your battery, yes?)
Pics of the dash removed




Pics of the motor I was replacing (I'll include a list of which is which, based on any codes you may have)


Once the motor was replaced, I reconnected the cluster, the HVAC control unit & the battery, allowing me to test the new motor & run it's adaptation. Obviously doing it this way will throw a lot of codes, but you'll have access to VAG-COM if you're doing this anyhow.
After all the self tests passed & I had no (HVAC) codes, I reassembled everything in reverse order.
I'll update this post with the motor list once I scan it & upload it.
Good luck!