Another vote for the wheel speed sensor. Had the same symptoms
On the hub of our cars, the hub bearing has a metallic strip that goes round the bearing. A correlating sensor then reads off this strip. The readings play a part in tyre pressure, speed sensor, ABS, traction control etc. The strip can corrode and give false readings. On a manual car this would lead to problems with what Ive listed, but as DSG, it also affects the gear changes.
The strip around the bearing, or even the bearing itself, can't be replaced seperately unfortunately - you'll need to buy a new hub. Around £130. Do go genuine, I bought a LUCAS hub from Euro Car parts and it eradicated half the issues. Got a hub from VW and it fixed it entirely.
Can you scan it with VCDS? it will show which corner is the offending corner hopefully