Calibrations need ids or similar diagnostics, wheels straight ahead and parked on level ground, 5 minute procedure but well worth doing as it'll save you a lot of other work trying to find the problem.
Intermittent coherence problems should bring up a historic fault as wiring as breaks will cause open circuit rather than signal out of range.
Intermittent warning lamp should be diagnosed if possible but you need diagnostics that can read all the abs info
56 350 2.2 130ps mk7 with 2 side doors
65 290 2.2 125ps custom with 2 side doors
07 350 170ps
Ids v86 licence + v86.04 update + xprog
hereIds map
here