https://youtu.be/DMZlWpWf8Ow
Some real world visuals of the situation, though I have no idea what the guy is saying.

Google "audi ssp 480" and look at page 22. You see in the illustration of the J500 control module on the end opposite the connectors is the motor position sensor sticking up towards where the rotor would be.

The J500 at least is responsive to the scan tool. No idea if there's a basic setting in the J500 you could invoke to recalibrate the motor position sensing. Or if it's like the video and a bit toasted.

Some people have been able to just replace the J500, depending on the core issue, but it's a real gamble. Audi considers the rack and J500 a single non-serviceable component on the MLB platform.