Old post, I know, but I'm going to keep this one going with some more info ;-)
After I start the car from totally cooled and drive it for just a couple miles, the engine sometimes won't start (keeps cranking). If I drive it a longer distance and the car has a chance to totally warm up, it doesn't have a problem starting again. Or, if the car sits until it's totally cool, it will start again. I haven't stalled out yet and I don't have a check engine light. However, I pulled this code...
16706 - Engine Speed Sensor (G28): No Signal
P0322 - 35-10 - - - Intermittent
Along with 17521 / P1113 and 16826 / P0442 (perhaps unrelated).
Either way, I just ordered the sensor and will replace it this weekend. I'll keep you posted on how it works out.
2002 Allroad 2.7T 6MT