Audi A3 8P 1.9TDI BKC - Error 00573: Post-Maintenance Issue, Torque Sensor & Power Assistance

I received my A3 8P 1.9 Tdi Ambition from the mechanic after the exchange:
1st valve timing complete with water pump, sealant w, k. lower
2. motul oil, set of filters
3. front wishbone bushings 4 pcs
4. articulation right front
5. Exhaust connector
6. right front suspension spring - used
7. thermostat
8. glow plugs 4 pcs.
Unfortunately, right after starting the car, error 00573 appeared, the power assist torque sensor, the signal was incorrect, constant.



After resetting the error, it returned after restarting the engine.
Power assistance is normal.
Has anyone dealt with this problem? I saw this problem in several forums but nobody wrote a solution.

The power support is electric here. There is no hydraulic transmission in this model.

In what sense did they plug in and didn't surprise? The mechanic was not digging at the transmission.

I am to understand that I do not need to replace the ironer / gear?

Is the adaptation below?
steering angle sensor (G85)


Requirements:

Start the engine.
Turn the steering wheel 1 turn to the right and then 1 turn to the left.
Drive a short distance in a straight line on level ground not faster than 20 km / h (a few meters is enough).
When you have the steering wheel straight stop without changing the position of the steering wheel (wheels straight).
Make sure the steering wheel does not turn.
Do not turn off the engine.
System voltage minimum 12.0 V.

[Select]
[03 - Brake Electronics]
[Coding-II - 11] or (if Coding-II not available)
[Security Access - 16]
Enter 40168, allows access to basic setting.
[Do it!]
[Basic Settings - 04]
Group 060
[Him!]
Activate Basic Setting.
[ON / OFF / Next]
After proper basic setting, field 2 should indicate "OK".
[Done, Go Back]
To make sure basic setting is done correctly, check the sensor again.
[Measuring Blocks - 08]
Group 004
[Him!]
Check field 1, the value must be between -1.5 and +1.5 °.
[Done, Go Back]
[Close Controller, Go Back - 06]

Handlebar end position adaptation

(Engine running all the time)

Hold the steering wheel straight (? 10 °) for a minimum of 5 seconds.
Turn the steering wheel to the left until it stops and hold at the end for a second.
Turn the steering wheel clockwise until it stops and hold at the end for a second.
Straighten and hold the steering wheel straight (? 10 °).
Turn off the engine and ignition.
Turn the ignition on.
Wait 5 seconds.
The power steering indicator should go out. If not, do a short test drive.

or also:

calibration looks like this:
- straighten the wheels
- start the car
- twist 1 turn clockwise, straighten and turn 1 turn left and straighten
- ride a piece of the road without driving faster than 20 km / h.
- stop the car straight ahead
- do not move the steering wheel perform adaptations VAG-COM:

[03 - Brake Electronics] or [44 - Steering Assist]
[Coding-II - 11] or [Security Access - 16]
code 40168 [Do it!]

[Basic Settings - 04]
Group 060
[Him!]
if you did everything right you should get OK in the second box
[Done, Go Back]

to make sure everything is ok:
[Measuring Blocks - 08]
Group 004
[Him!]
in field 1 the value should be between -1.5 and +1.5 °.
[Done, Go Back]
[Close Controller, Go Back - 06]

I don't have Delfi, it's my mechanic

I did the VCDes test according to the instructions http://wiki.ross-tech.com/wiki/index.php/00573 The values at the steering wheel change, I also did the adaptation of G269 and the G85 steering sensor (here the support disappeared but after the adaptation returned) but the problem and error 00573 the assist torque sensor continued to come back after firing the engine again.

Replaced mangle with power steering engine for second generation stimulant and knock from 60km problem and error 00573 missing. Unfortunately, the pocket is a few lighter.