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Anyone else had this and know what the cause was. Waiting for the dealer to diagnose it.

I have seen other Audi A6, SQ5 seem to experience this and it needs a new steering rack....ouch

Unfortunately I had the same message after only owning my RS6 for a week (2015 model) and it was indeed a faulty steering rack. The message came up as I was driving spiritedly shall we say and by the time I found somewhere to pull in I had no power steering at all. Lucky for me I have an approved used warranty but the bill would have been 2.5k. This might not be the only cause for the message though, all the best with it.

Thanks for the reply, thankfully it has an extended warranty.