Scotty I have a gasoline Jetta 2006 2.5 auto, the alternator and battery died. So I changed both. Then the abs light, steering wheel light and airbag light turned on. A guy with a scan tool came and fixed my air bag light. But could not fix the yellow steering light so I changed the steering angle sensor, and clock spring, and even checked wiring, nothing. He came back and still could not calibrate the new angle sensor it reads 0 degrees. Also when he first came and tried to clear the codes the abs light and brake light started to blink and beep.I also changed speed sensors and a bad wheel bearing. The beeping started after the guy came. It would mean the world if you could share some information:)! The car has 137k miles and no engine problems.