Engine cut out, glow plug flash, esp fault see manual...,.. Help

Icey

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Hi guys,

I had some issues with my A3 2.0 Tdi.
Engine would cut out with a felling of engine break for a split second then says esp fault and glow plug light flashing, while I am driving.
When I try to restarts it won't start and on ignition the rpm dial jumping up and down and I can hear a clicking noise coming from the fuse box area while the dial jumps up to 600 100 then 400, just while ignition is on before you actually start the car.
The car will restart it I leave ignition off for 3-5 min will have eml on until I shut it off and restart it then the engine will Rev at 1000 in idle. Restart again eml goes off and all back to normal.
Lately it started to cut out while low rpm, pull op to park and bang dead.
Other then this the car runs fine and had plenty of power and never went in to limp mode.
Now I had it scanned and it say
One error says Engine speed sensor g28 - 000802 no signal - intermittent


Checked if the ecu is getting wet or not but its dry and it's been bagged up with a plastic bag, just in case.
Any ideas ?