It has been a long time since my DPF issues on a D3, mine was a clear sensor issue and was resolved by replacing both sensors. Back end of the gearbox had to be lowered, not too bad with a ramp but clearly not going to happen on my drive!
The advice at the time was to ditch the DPFs, I wanted to keep them intact.
New sensors plugged in, problem resolved - no firmware issues, no remap needed - no re-occurance and reliable for at least another 60k until I sold the car
http://forum.a8parts.co.uk/showthread.php?t=4917
The thinking at the time was fix it sooner than later, as without regen the DPF more likely to end up stuffed up!