Hi All, Just thought Iâd create a post as I two have had the dreaded G200 lateral Speed sensor. I have a 2001 Facelift Audi S3 AMK Engine. First thing I would recommend is one of these: VAG DIAGNOSTIC ENGINE AIRBAG ABS SCANNER TOOL VW SEAT SKODA AUDI | eBay It has been a life saver and for £35 delivered it is reasonable seeing as you would take it to a garage and pay money each time. (Be warned once you have one you will constantly be plugging it in to make sure there are no hidden error codes ) I have had this error on my car since I purchased it in April 2010 and as it would only happen on the odd occasion, so took no notice of it. I have read through various threads and each has had a different explanation as to what sensor goes where and the need to calibrate and not. So I just thought I would let you know about my experience. There are 3 sensors that are linked to the ESP: Â· Longitudinal this is located behind the passenger glove box. Â· YAW and Lateral this are both under the steering wheel- it looks like 1 big sensor however they are mounted on top of each other. The Lateral sensor is the smaller of the two. Please see below for the part number: I did try the fix (as I was trying to save £160 on a new sensor) BLUEVISIONS However the same error was coming up. So I bit the bullet and brought a new sensor. Plugged it in and using the VAG scanner (above) erased the fault and it hasnât come up since. Car drives like a dream now. Hope this helps.