Help! ESC Light and Fault Code: Steering Angle Sensor

[1145climber]

Today my ESC light came on (solid, not blinking) so I hooked up my vag-com and ran the diagnostics... and here's the fault code it found:

Address 03: ABS Brakes
Controller: 8E0 614 517 Q
Component: ABS/ESP allrad 4533
Coding: 04595
Shop #: WSC 06435
2 Faults Found:
01826 - Sensor for Steering Angle (G85): Supply Voltage Terminal 30
35-00 - -
00778 - Steering Angle Sensor (G85)
37-10 - Faulty - Intermittent

What gives? Do I have to take my car to the dealer, or is it something easily fixable?

Thanks!

[1145climber]

bump! help!

[1145climber]

now my ABS light is illuminated solid as well... someone?!?

[Ill 3.0]

Could be battery related. When I disconnected mine, those are codes I had when I reconnected it. If you clear them and they don't come back, I wouldn't worry. If they do come back, I guess trip to the dealership if its warrantied.