Damn it where's 7th gear when you need it?!
Its unlikely to show up just by disconnecting the battery. The steering angle sensor is a ring behind the steering wheel that tells the the ecu which way your steering as part of the traction control system. This is why your ESP light was one, it also means your traction control either wont be active at all or not functioning properly. The rosstech website tells how to recalibrate the sensor, but you'll need a registered copy of vagcom to do this. If this dosent fix the prblem they're a doddle to replace, you simply remove the steering wheel & the steering angle sensor is just clipped on to the steering column behind it, no idea of cost mind you!
A4 3.0 Quattro Sport - Gone & missed everyday!
Current road going missile.....
........Smart Roadster - arguably the most fun you can have in a car without using lube!!