YAW Sensor replacement (combisensor)
 

I'm getting an ESP fault that the dealer traced to the combisensor (part 4F0-907-637A). In my 2006 A6 Avant this is apparently under the center console. Does anyone know how to replace and recode this thing properly? I picked up a replacement from a wreck, but am hesitating on changeout until I have info on how to proceed. Thx in advance...