There isn't any in place cleaning other than a regen. So, without taking it off, that's what I would do. And maybe several and watch the back pressure to see how much it drops between regens to see if it's getting better
Negative.... What I have seen, videos (several), pull put the O2 sensor and fill it with cleaner* and put a bung plug in (O2 stays out). You run the car for a period of time. You repeat 4 times. Some disconnect the exhaust pipe at the NOx Cat when doing the static in place runs. Then you drive the car and do REGEN... One video was a DIY'er the other a Pro mechanic using Diesel Particulate Filter (DPF) Cleaning Kit - Liqui Moly LM7946KT1 ($490). I don't want to waste money on that.
The Pro did pressure checks, did very extensive trouble shooting and determined the DPF was shot. Yes he cleared the code but knew the customer would be back.
The DIY did similar things (with not trouble shooting) and used oven cleaner, 4 cans of it. He also got the code to clear, but then I also cleared the code when it first happened. It cane back iin 40 miles (without cleaning or forced Regen).
I think if you just have soot/ash buildup only it may help. I see others take it off (on other vehicles like trucks) and wash it out removed. Again they use chemicals.
In the end however internal crack letting a lot of stuff out and clocking EGR is possible and not uncommon I read. For me? Not sure yet.
Good news. After a long drive (1500) miles I let the CEL show. I cleared the code and soot load was low. The soot was about 5,6g. I did a forced Regen while driving and got it to 1.5g. Too early to tell if it will P0401 and P2002 will come back, clear for now....
BUT.....
Well Now I have
006744 - NOx Catalyst
P1A58 - 000 - Regeneration Required
Not sure if I blew ash and soot out and blocked the NOx Cat? I am not worried at this point. I will just drive it and may try the VCDS forced NOx Cat Regen while driving.
I read another thread and it seems it takes time and miles to clear NOx Cat. I don't feel like taking more maintenance only long drives right now. I will likely not need to drive Heidi (my VW TDI) until later in the week or next weekend. I have another car.
I am getting mentally, financially and emotionally ready to replace the DPF and EGR filter if needed and what ever else, NOX cat or sensors? I like to leave it stock..... I can do the work my self. The cost of a DPF job by a shop is about $3800 to $4000. So I really want to make sure DPF is the issue and not an EGR issue. With only 134K on the engine and DPF typical life is ?????
PS No tail pipe expert but they do have soot and yes bit oily. So I am guessing I will need to fork over some cash soon...