Steering Defective - Help

[DieselDeeds]

My Audi finally has its first issue that wasn't caused by me (I think..). I started up my car a few weeks ago and I heard three loud beeps and my dash said "STEERING DEFECTIVE DO NOT DRIVE VEHICLE". My steering feels normal when driving. Nothing has changed since I got the error message but i've read plenty of stories of people who have come out to their car after not getting it fixed and the car essentially just locks up and either won't start or drive. I don't want to get to that point and i'd rather just get it fixed ASAP the most cost effective way. So my car has been sitting the past couple weeks and i've driven it a few times. I just got back from a winter vacation and now have some time to investigate and hopefully fix it for less than $4k. I've done digging and found people who had the same error message. I hooked up my vagcom and here is the snipped vagcom dump:

Address 44: Steering Assist (J500) Labels:| 8K0-909-144.clb
Part No SW: 8R0 909 144 G HW: 8R0 909 144 B
Component: RCEPS H40 0508
Revision: 00001000 Serial number: 0030265520
Coding: 100000010001
Shop #: WSC 06334 000 00000
ASAM Dataset: EV_RCEPSAU48X 008015
ROD: EV_RCEPSAU48X_008.rod
VCID: 3C213685C6E93BFBF7A-8068

1 Fault Found:
5258756 - Steering
C10AC 07 [137] - Mechanical Failure
[Blockieren der Lenkung]
MIL ON - Confirmed - Tested Since Memory Clear
Freeze Frame:
Fault Status: 00000001
Fault Priority: 1
Fault Frequency: 1
Mileage: 174677 km
Date: 2022.12.04
Time: 14:56:43

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I've searched up part numbers 8R0 909 144 G and 8R0 909 144 B. I called a local Audi indy shop and gave him my vin. He said everything should be about ~4k since I have dynamic steering and he'd have to have his buddy come out and reprogram/match things up with my car. My biggest questions:
1. Does anyone know the difference between 8R0 909 144 G and 8R0 909 144 B?

2. Does anyone have any good resources or places to contact? Thanks everyone!

 

[PeterA1]

I believe there is some sort of recall or extended warranty on the steering racks that might cover this. There's an Audizine thread on this in the c7 forums and there's tons of details on it there.

Edit-https://www.audizine.com/forum/showthread.php/932629-Electromechanical-Steering-Unit-Warranty

 

[joep1234]

There is a 120k/10 year extended warranty due to so many failures.

 

[DieselDeeds]

Just to recap on this... I replaced the entire steering rack and tie rods myself with a neighbor. Everything took about 2 hours. After install, drove the car to audi dealership and they coded it for me for a few hundred bucks. Buying the steering rack and doing the install myself saved a few grand.

 

[reince]

Just to recap on this... I replaced the entire steering rack and tie rods myself with a neighbor. Everything took about 2 hours. After install, drove the car to audi dealership and they coded it for me for a few hundred bucks. Buying the steering rack and doing the install myself saved a few grand.

Good work there. We will deal with the steering wheel issue on my uncle's incoming 2014 Q5 TDI project. The previous owner mentioned his dealer recommended the steering rack replacement. It's neat overall with new brake pads and tires from 4Wheelonline installed last month.