I'll bet it is knackered rear wheel bearings.
Very common fault, the rear wheel bearing housing contains the stator for the rear wheel speed sensors. These corrode over time, and the stator becomes less efficient. The actual plastic speed sensor can be in perfect condition, and won't even register a fault on VCDS - although sometimes they do log a fault on VCDS.
Exact same thing reported by OP happened on mine.
By all means, change the oil and filter in your DSG box, and then get it recalibrated via VCDS - but it wont fix the orginal prob if there are any faults in the ABS/ESP system.