Pull the battery for at least 30 mins, or pull it and touch the negative & positive cable ends together to clear any capacitive memory.
If the fault remains, I would get it investigated a bit deeper with a more in-depth scan tool, like VCDS.
You shouldn't ever get steering faults, in spite of how the car feels to drive.
It usually starts with an amber steering wheel light on the dash when it's defcon 3, then elevates to a red light when it's defcon 1 and rack replacement is imminent.
FWIW, rack failure isn't unusual on MK5s, especially if it's a Gen 1 or Gen 2 rack. The cure is to fit a Gen 3 rack from a MK6, which also needs a new (£100) harness. That is also the official VW fix.