2001 S8
Bentley doesn't have much about the G201 sensor, but I found something about it in an Audi tech training manual...and it doesn't look good, if it is indeed your problem (see below). Look at the warning about removing it...BUT, I've repaired other items in the past that Audi tells their techs can't be disassembled, so it could be replaceable...I dunno.
Might be worth having your electric module on the side of the ABS hydraulic unit (G201 sensor is on pump under it) by Modulemaster ( http://www.modulemaster.com/en/index.php ), before going much further.
Not sure, but bad connections in this unit lead to many false warnings about the ABS hydraulic unit and related parts. May even want to check good plug connections on that unit and the plug for the G201 sensor(?)
G201.jpg?t=1311647654
I believe that's the sensor at the red arrows:
^^ Just to qualify that ^^ ...The EPC is actually directly tied to traction control. It's step #2 (throttle intervention) in stopping wheel spin...step #1 is ABS braking only the one spinning wheel and if both sides spin (front or rear), then power is cut back to the fly-by-wire throttle. Both are involved in the same system, but 2 different components of that system. Signals, however, are sent to both systems from individual ABS wheel sensors, which are what detects wheel spin (and which ones). It's just that the code you have doesn't normally point to the EPC...but all part of the same system, so could still be an electrical problem(?)






