I searched around for a DIY, could not find any, either there are none or my search skills are no good......any way here goes
I had the range control warning in the dash display, after using VAG-COM to identify the faulty sensor, I ordered it online, about $130.
I did not disconnect the wiring for the sensor until I had it uninstalled from the vehicle, this was to make sure I did not break any plastic tabs or clips on the plug.
Parts needed;
1. New sensor 7L0 616 213 C Front
SEE CORRECT PICTURE BELOW.
2. 17mm wrench, I used a ratcheting style (made it easier)
3. Prying instrument.
No need to remove the front wheel, just turn all the way to right
Showing locations, front is at the upper rear control arm
This pic shows the upper control arm rear section, You will have to hold the head (not pictured)of the bolt so it does not spin around while you are trying to remove the nut, do not remove the bolt.
the pin in the pic above is plastic don't break it.
This shows how the pin is when separated from the housing, remove it before trying to separate the arm attachment point.
new pin comes attached to the new sensor, just break it off.
It gets installed from bottom towards the top, make sure it is fully seated
The pin ends up where the bubble is pointing to when properly installed
SEQUENCE
1. Get parts.
2. Turn steering wheel all the way to the right.
3. Remove nut and pull mounting metal plate from bolt
4. Remove plastic pin.
5. Pry sensor arm from control arm of vehicle.
6. Disconnect wiring plug.
Re-install, just follow the sequence backwards.
Took me about about 45 minutes, I was being methodical, you might be faster.
GOOD LUCK!
I had the range control warning in the dash display, after using VAG-COM to identify the faulty sensor, I ordered it online, about $130.
I did not disconnect the wiring for the sensor until I had it uninstalled from the vehicle, this was to make sure I did not break any plastic tabs or clips on the plug.
Parts needed;
1. New sensor 7L0 616 213 C Front
SEE CORRECT PICTURE BELOW.
2. 17mm wrench, I used a ratcheting style (made it easier)
3. Prying instrument.
No need to remove the front wheel, just turn all the way to right
Showing locations, front is at the upper rear control arm

This pic shows the upper control arm rear section, You will have to hold the head (not pictured)of the bolt so it does not spin around while you are trying to remove the nut, do not remove the bolt.

the pin in the pic above is plastic don't break it.
This shows how the pin is when separated from the housing, remove it before trying to separate the arm attachment point.
new pin comes attached to the new sensor, just break it off.
It gets installed from bottom towards the top, make sure it is fully seated


The pin ends up where the bubble is pointing to when properly installed
SEQUENCE
1. Get parts.
2. Turn steering wheel all the way to the right.
3. Remove nut and pull mounting metal plate from bolt
4. Remove plastic pin.
5. Pry sensor arm from control arm of vehicle.
6. Disconnect wiring plug.
Re-install, just follow the sequence backwards.
Took me about about 45 minutes, I was being methodical, you might be faster.
GOOD LUCK!