I have a 2004 V6 Touareg. Yesterday, I accelerated on the highway to get around somebody to get off at my exit, the transmission downshifted fine, power was delivered, and ran fine onto the ramp. As I got onto the ramp, the check engine light came on and the engine began running very rough and shaking the car a little bit. When I got to the light at the highway, and the engine came to Idle, it was sputtering, RPM’s going a little bit in each direction, and almost rumbling. Luckily my home was right by the exit. I made it home, shut the car down, and then had it towed to the dealer. They said it may be an O2 Sensor or crankshaft sensor error that is causing the engine being rough. Can anyone provide any incite on this matter?