Since car always said ABS and ESP not working and I cleaned the wheel sensors and the steering angle sensor I started looking for something else, this can’t be good:
Need new bracket also:
Bought the whole Traction system hydraulic unit(A7/3), but then did some reading and when system is just woken it is 60 bar of pressure, when working 160 bar, so gave it a shot just swapping the control unit:
They are “identical” but different part number, mine comes off a E500:
Magically ESP warnings gone, ABS warnings gone, Adaptive steering is back in working order and Cruise control started working. Case closed.