I have fought the relearn procedure on Audi's for years but I think I finally found the exact magical sequence. Just wanted to share, hopefully it works for you.

1. Access ABS module 2. Clear ABS codes 3. Drive forward with steering wheel straight then come to a stop. 4. Login ABS module (code 40168) 5. Back to basic settings input 060 go ***This is the part I could never get correct*** 6. Turn off ignition 7. Start engine 8. Turn wheel all the way to left lock and hold for 10 seconds. 9. Turn Wheel all the way to right lock and hold for 10 seconds. 10. Turn wheel straight ahead, light should go out!

Jacob Sorensen
Technician/Shop Foreman
McNeil's Auto Care
Sandy, Utah, USA