Tagged you in 3 posts @anthonywalker198734
This is what I have narrowed mine down too
Yaw rate sensor
Battery (done)
Wiring issue (cut or rusted out)
Abs sensor
Yeah that was everything Its 1 full unit buddy can't buy it separately apparently clutch was ok it was dmf knackered knocking badly when a was slowing down.
Also judder when pulling away.
Garage got luk kit not sure where from.
Spoken with @Asad and he replaced
Scanned with Odis which showed him fault.
AUDI A6 C7 2012 ACCELERATION YAW RATE SENSOR CONTROL MODULE 4G0907637
Solved his problems
Had look under gearstick ashtray etc can't locate sensor .
Exactly like mine.
Guy on different thread says his wiring between abs pump and sensor was damaged So was replaced.
Still my fault pops up every so often.