Sorry to mislead on access to speaker via panel removal - I didn't remove panel on my 88 S4 and the speakers have been replaced (MB Quarts) on current one.
The part numbers for speakers are correct. The one you want is the 89 onwards 928.645.212.00 but I would be very surprised if they were still available - the design is so obsolete compared with a modern speaker.
On my MY88 the covers did unscrew by rotating them - the mounting rings are threaded. For 89 on the speakers were changed (10 speaker system, not

and the covers are snap on. You just need to carefully twist/pull them so that a little gap opens up allowing you to gently pry them off. With covers off you just take out the 4 screws and disconnect the speaker terminals to remove.
It's a little tricky to find speakers which will fit at the front, and you have to cut the old speakers off the mount rings if you want a completeky stock loo, but thy do exist and would be a huge improvement on the originals.