Hi sorry if you have been asked this before not very good on these things.
I had my steering rack changed all good there but since it's been fitted I have had problems with the angle sensor.
I have changed it for the same code one (4H0953568K) but still have the same problem saying that the airbag is not working and still showing the steering wheel on the dash all in yellow. Now the garage is saying that the angel sensor has to be new from Audi and the steering wheel functions are not working or lighting up. Sorry, it's long.
Audi A6 c7 2016
This is the part hope this helps.