I got the P0470 error code, too. 2010 Jetta TDI Sedan, 79K miles. I'm on a road trip, 1000 miles from home. Seeing the CEL come on was not an uplifting moment. But the car was driving normally. This happened at a time when all service shops were closed, July 3 after business hours. AAA told me to check O'Rellly's, that they'd scan it. And they did! Their scanner didn't get me the detail that a VW service person's would, but I got the error code and "exhaust pressure sensor A circuit" out of it.
He cleared the code and it stayed cleared for a couple of hours. But now, it's back.
My main question: is it safe to drive the car with this error? Is any harm going to come to anything if I don't get this fixed in the next 1000 miles?