This is what i got yesterday from my scan. Any suggestions?My esp is constantly on and when i press the button it will not do anything(just stays on). tt 2001 quattro 225. The steering wheel feels a little stiff.Those angle sensors are probably causing it.
Thoughts?

Address 03: ABS Brakes
Controller: 8N0 907 379 E
Component: ESP 20 CAN V005
Coding: 18446
Shop #: WSC 01236
3 Faults Found:
01324 - Control Module for All Wheel Drive (J492)
49-00 - No Communications
00778 - Steering Angle Sensor (G85) 49-10 - No Communications - Intermittent
00778 - Steering Angle Sensor (G85) 37-10 - Faulty - Intermittent