Steering rack. Need help

[dynamonkii]

So I posted this in audiworld forums but no one has responded with help. The other day I go a (static) b200049- steering control module faulty and a (passive) c10ad29- sensor for motor position implausible signal on my 2014 A6 C7 Quattro 3.0TDI. The display has a yellow steering wheel icon and a start up message stating "steering fault: you may continue driving". Can I just change the steering control module or do I need to change the whole rack? If changing the module only is an option do I need to code it to the car?

[hascrack]

I've done a full rack replacement on a 2013 S4 and all that it needed was a steering angle stop relearn. Once that was done everything worked great.

[dynamonkii]

Ok good to know. I hope I don't have to change the whole rack but I can't get any definite answer from anywhere. I plan on talking to some Audi techs next week when I have some lemonlaw warranty work done at the dealer.