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I've not seen how the mirror is attached on the Taos but in general, there is a small metal wedge that is glued to the glass. the mirror attaches to the wedge with a set screw of some sort. that allows the mirror to be placed or removed without harming the wedge. seeing as this is a VW product, you might not need to remove the wedge, the new mirror may fit on it the same as the old one.

in the case you need to remove the wedge, a flat razor blade for scraping paint, etc. easy to find at HD/Lowes/etc. the glue doesn't stand up to being scraped off.
 

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I’m going to be installing the homelink mirror. My question is how to remove the original rear view mirror? Worried about cracking the windshield.
Do a search (top of the page) for "Homelink" and a few threads pop up. At least one of them eventually has a link to an Atlas page. I'm not saying it's identical, but it might be.
At the very least, it will give you some things to look for. Studying the new mirror should tell you if the mounting is similar.
 
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