The car suddenly start acting weird when I tried to turn the steering wheel. It was ok to turn left but when trying to turn right, it turns only few degrees then stop! With the engine off, only ignition on it turns till the end. On vcds it appears that the upper limit of steering angle sensor is exceeded 02557 error. I tried to adapt the steering angle position sensor and do basic setting, no luck. In some cars you have to do this in ABS module in others in Steering assist module. On this car I managed to adapt the steering wheel sensor using the code for security access 31857, not the one that VCDS suggested.