My ESP and ABS lights come on. When they do, engine surges when accelerating. S mode or manual shifting is the only way to drive the car. I don't know where to begin!

 

Hello Steve! New member here. Have you sorted this by now? I see it's over a year old thread.

 

Sent my abs unit to be repaired so now the car is drivable shifting automatic, but abs and non skid still don't work and lights are on. I get a vag com message that steering angle sensor is out of adjustment, but I'm skeptical...and i don't have the instruments to adjust it

 

I hope it gets well for you. Please post updates if you feel like sharing. Thank you!