Ran through a few test's tonight on my 2000 S3 and got this (as well as a few others)

Address 03: ABS Brakes Labels: Redir Fail!
Controller: 8N0 907 379 E
Component: ESP 20 CAN V004
Coding: 18448
Shop #: WSC 06435
VCID: 3E0FBDFB2979
1 Fault Found:
01542 - Yaw Rate Sensor (G202)
57-10 - Electric Circuit Failure - Intermittent

Looks like a Yaw sensor has failed but I'm not sure which one, seems there is one on the steeering colum, one behind the glove box and maybe one by the gear lever.

Can anyone shed any light on the error, as I'm more confused than I was after reading several threads on the subject.