By the way, I thought I would paste the procedure that worked for me regarding the Steering Angle Sensor off of the VCDS forum:
This may be useful to someone that runs into the same problem.
Engine at idle.
[44-Steering Assist]
Rotate steering wheel 90deg left then center, 90deg right then center so steering wheel is level, front wheels pointed straight ahead.
[Security Access - 16]
Enter 19249
[Basic Settings - 04]
In Basic Settings, pick [MAS00815] Steering angle sensor
[Go!]
Rotate steering wheel all the way to the left, hold firmly against end stop for 5 seconds.
Rotate steering wheel all the way to the right, hold firmly against end stop for 5 seconds.
Center steering wheel, front wheel straight ahead.
Note: our testing of this would still be "Running", never got a message of "Finished Correctly"
[Stop]
Now a bunch of error messages and warnings will appear on the cluster, what messages you get can vary based on how the vehicles is equipped.
[Done, Go Back]
Rotate steering wheel all the way to the left, hold firmly against end stop for 5 seconds.
Rotate steering wheel all the way to the right, hold firmly against end stop for 5 seconds.
Center steering wheel, front wheel straight ahead.
Now most warning messaged in instrument cluster should be removed.
[Close Controller, Go Back - 06]
Cycle the ignition off for 10 seconds.
Several other control modules will flag DTCs, "Databus" type codes that can now be cleared out.
This may be useful to someone that runs into the same problem.
Engine at idle.
[44-Steering Assist]
Rotate steering wheel 90deg left then center, 90deg right then center so steering wheel is level, front wheels pointed straight ahead.
[Security Access - 16]
Enter 19249
[Basic Settings - 04]
In Basic Settings, pick [MAS00815] Steering angle sensor
[Go!]
Rotate steering wheel all the way to the left, hold firmly against end stop for 5 seconds.
Rotate steering wheel all the way to the right, hold firmly against end stop for 5 seconds.
Center steering wheel, front wheel straight ahead.
Note: our testing of this would still be "Running", never got a message of "Finished Correctly"
[Stop]
Now a bunch of error messages and warnings will appear on the cluster, what messages you get can vary based on how the vehicles is equipped.
[Done, Go Back]
Rotate steering wheel all the way to the left, hold firmly against end stop for 5 seconds.
Rotate steering wheel all the way to the right, hold firmly against end stop for 5 seconds.
Center steering wheel, front wheel straight ahead.
Now most warning messaged in instrument cluster should be removed.
[Close Controller, Go Back - 06]
Cycle the ignition off for 10 seconds.
Several other control modules will flag DTCs, "Databus" type codes that can now be cleared out.