I have a 3.0 with ESP and I'm getting ready to do the brakes tonight after work. I was reading the DIY on AW when I read that I shouldn't attempt to manually retract the caliper piston on an ESP-equipped Audi without a VAG-COM. On D3 models I know the ESP has a stepper motor on the rear calipers, but does the B6 have this as well? I'm trying to decide if I should order a VAG-COM today or if I'll be ok without it.

-Steve