Yesterday I finally updated the firmware electric power steering Audi dealer. I can share my impressions:
1. Finally it disappeared these jerking the steering wheel, which were before, now steering wheel is spinning freely at any speed.
2. Steering wheel has become much harder and more accurate now it is not a "lightweight", it is felt that the electric power steering began to work on another.
3. The car was better to "obey" the steering wheel and hold the right way, without "steer".
4. Since turned on back system DSR then disappeared error in block 03 - ABS. Now all ok!

In general I am satisfied!