Spent Fuel

Greetings all-

I have an '08 S6 with adaptive headlights.

I get a message on the Central Warning Indicator that the lights do not work. When I first start the car, the headlights dip and then re-center themselves.

The lights do not follow the steering wheel movements as they once did.

I did a search here but did not find a solution in the first two pages.

What is the correct solution to this issue, sans a trip to the stealership where hundreds (if not thousands) of my $'s will be transferred to correct this annoyance.

Thanks in advance!