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As per the title really - just sat in traffic when it appears

Anyone else had this happen to them, if so - what was it - faulty sensor?

Will get it into the dealer next week at some point to sort it

Could be almost anything, you need someone with VCDS to read the codes, or a garage/dealer with the relevant diagnostics tools.

Probably not relevant to a current RS6, but on the old D2 S8's the favourite cause of airbag warnings is a small sub-sensor of the seat occupancy detector in the movable thigh support. Usually in the passenger seat.