i know its an old thread but was there anymore wiring/coding that needed to be done for everything to work?
Depends how far are you now.
I have done Haldex wiring - working.
Replaced ABS pump - ended up with errors.
ESP Multisensor placed instead of ESP Duosensor - G202 Implausible signal or ESP System Fault.
Engine coding - not able to code to AWD but 4 wheels spinning
Wiring diagram looks same for FWD/AWD - only one wire extra for awd.
In my 2005 there was 4 cables and I was able to get rid of faults at standstill. When driving and making turn ESP goes mad. Not sure now if its wiring fault or sensor position (AWD should be upside down and facing back - not sure about this)
I will try to sort it tomorrow