Hi All, new here but thought i'd take the time to add to this post as i had this issue and solved it last night with the help of this post.
I had removed the clocks in my car with the intention of replacing them, unaware of the issues that came up after, i also had disconnected the battery with hoping this would reset some stuff, but turned out to put more warning lights on.
Goggle'ing the issue i came across this post, i had purchased a chinese VAG COM cable & VCDS from ebay for about £45, and using one of the posts above followed the exact steps along to remove the 3 codes listed in the ABS controller. you have to do each one step by step to clear each one, the only 1 thing that gave me a headache was resetting the steering lock to lock. Online it tells you to go to the left hold it, then fully to the right and hold it, but this never reset the light. You have to go fully to the left and hold, then to the centre and hold, the fully right and hold, then back to the centre and hold, this will reset the steering wheel assist light.
Hope this helps someone else who made the mistakes i did, my original clocks are back in with a 2nd hand lcd unit( the bit that was bad originally), rather than another set of clocks which need to be programmed.
Thanks