After studying the codes on my Audi A8L 55, I think I found the culprit on breaking the Lane Assist and SOS in Driver Assistance by coding my Maneuver Assist and IPA last time. Some people on the net said to take it to the dealer to reset to original codes. Luckily I used OBDeleven and it had all the original codes, so I coded everything back to original codes, but it has to be in the correct sequence to fix the Lane Assist and SOS assist. If Lane Assist works then the SOS will automatically works. Both of these features and maneuvers use function Steering Assist, to me this is the culprit of every steering failures.
These are my 2019 Audi A8L 55 original codes:

Module 9 (Electrics)
07500363E0691CCD070E87091CEB9C2A131BB7110406009381 000A0000011600086900020010000000000707004708181802 10304401F107000000000000000000

Module 44 (Steering Assistance)
B4000101010000

A5 (driver assistance)
020184000000000000FFD60000B0450C131F56000000000000 0000000096D401019BA8000000000000000080000000000000 000000000000F98040000000000000007204008000B0008000 80000000000080400000E0

module 03 brake
28AA149D31A24B9B11A44C96187DD2E2F4398914288CD28832 184B472F9C91

Module 46
0134000049A000C0650FA0046C05090E0B004000810422502F 0400200F04823F001E0101010001

cf lane change left
0FDC00

So the trick to get everything back to original code working is to Code everything and clear all error codes. Turn off the engine for 1 hour to clear cache on the memories. This is only my understanding.

Make sure everything is working, Adaptive Cruise, Lane Assist, SOS, PreSense, everything in the Driver Assistance.

Maneuver Assist is a MUST have, I've backed up to a side wall because I didn't turn this one, scratch my bumper. It's really simple to code without breaking anything and it works.

There are only module 9,44,A5,19 and 3 needed to code, but leave the MA steering active OUT, do not code, this broke my Lane Assist and SOS before.

Now everything works, love the A8L more and more.


BTW, this is the way I did mine and it's working now.

Cheers,
Louis