Excellent stuff as always Ian, many thanks!
I did find the Vagcom procedure, but when searching for an answer to the original question, I also found an article (based on the TT) which mentioned that there are marks on the wheel and steering column which should be in line - although it does feel straight, I think I'll whip everything off again just to make sure before I try the recalibration procedure, as the warning lights (and fault codes) are still coming back...
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Present: S4 B8 avant, fully loaded, MRC Stage2, Milltek non-res, KW springs
Past: S8 D2 FL, S2 ABY coupe, RS6 C5 saloon, RS4 B7 saloon, S4 B5 saloon, S4 B6 avant, all gone but not forgotten