It turns out that many of the ABS systems can be repaired by replacing a faulty controller board. I believe that the dealer price for this can range from $800 - $1,000 while an independent mechanic can do it for about $650+. Circuit boards shouldn't be faulty like this, it was a faulty design that should be covered by the warranty but apparently it is covered on the lower-end VWs and not the Audi...one would think that the customers who pay for quality, brand, service and extras would be treated AT LEAST the same as the customers who don't...go figure.