just purchased a 53 plate facelift a3 2.0 tdi (bkd) had esp light on so was just hoping a simple fault code and just change of a sensor.plugged in snap on solus scanner and getting codes,00810 sensor 1/2 for brake pressure no or wrong adaption,00778 steering angle sensor wrong or no adaption (g85) and 01423 lateral acceleration sensor (g200)no or wrong adaption. all codes wont clear!heard about abs modules causing hassle but they seem to bring up 01425??not sure if cars been worked on or anything the guy just said it came on 1 day.is there a way of re adapting these sensors and why all 3 codes?its puzzled me