OK so now I am "freaked out" with the intermittent (what appeard to be the Yaw Rate sensor issue). I'm driving the fam to dinner last night, cruising along 55- 60 on a fairly congested freeway when all of a sudden the cars starts, shuddering, power loss, braking and pulling hard to right (the ESP and ABS lights flashing). Fortunately no one next to me. I managed to make off to the shoulder. Car still running but stopped in park - both ABS and ESP lights still on. Turned off the car, restart, lights go off. I disengage the ESP and drive off slowly. MAde it out and back (ESP off). Had my wife or someone else been driving or a car next to me when this all happened, it could have been MUCH worse. I will scan it for codes and suspect the yaw rate sensor code. It has glitched once before, but not as violent. Should I just replace the Sensor (under the rear seat)? A new one is about $700 + (on Eaby < $100 for used). Do I need to look into the ABS unit or seomething else ? I've read stories on the internet with others having similar experiences - seems Audi really did not do much - other than get it fixed. You know that taking the car into the stealer can really hurt the wallet, especially for an electrical issue (chasing Gremlins). I would REALLY appreciate any tips, comments, etc , that you can provide. For now I'm driving the car with ESP off (I sure hope this will disable the system) until a permanent fixed is in place.

Regards - Scott