After fitting a new stalk to get cruise control in my 05 S4 cab, I had all the same warning lights on and a list of fault codes in VCDS, turned out it was just the battery low after me taking a while doing other things after with all interior lights on most of the day, I took car for a run and all warning lights cleared off the dash, I cleared all the stowed faults with VCDS and nothing since, no parts needed to be replaced, just a little charge of the battery and just to make you aware, it all started with the same single fault as yours "steering angle sensor - supply voltage terminal 30-35"