Dangerous YAW Rate Sensor Issue - 2001 Facelift 8L S3

Hi, I've started having problems as the OP above on my way home from work. However I've just taken her back out for a drive in an industrial estate to see if it will go without esp on. The grinding noise is still there when I try to pull off and when braking. There's also a knocking noise that's just started and it clicks when I go slow full lock right, these are noise that have just started now on the test drive. Do you think it's the same problem or something else?
 

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