Does anyone know if the pre-facelift S3 (i.e. without ESP) has a steering angle sensor?
This page here Ross-Tech: VAG-COM: ESP Steering Angle Sensor Calibration seems to suggest that it is only on cars with ESP?
This procedure details how to perform the zero position calibration for the Steering Angle Sensor (G85) in many VW/Audi vehicles equipped with ESP (Electronic Stability Program). This procedure should be performed when vehicle alignment is performed or if any of the following components have been removed or replaced: