After having a "spirited" drive behind these two (The lead car is a 2010 RS6

)
The CAT light came on and the engine stalled. I had a talk to her when I got home and got these results back.
16706 - Engine Speed Sensor (G28): No Signal
P0322 - 35-10 - - - Intermittent
17604 - Oxygen (Lambda) Sensor Heater Circuit: B1 S1: Electrical Malfunction
P1196 - 35-10 - - - Intermittent
16518 - Oxygen (Lambda) Sensor B1 S1: No Activity
P0134 - 35-10 - - - Intermittent
I'm hoping the lambda sensors can be ignored and tht the engine speed sensor is the culprit here.
Any ideas anyone??