Dash lit up

[jt racing]

Hi everyone
Hope we might have some ideas.
Went out to the car after work this evening, 3.0tdi 2008 a8, and when I started it up the abs light and esp light came one, the brake light went red and started flashing, and in the info dash brakes came up with a big red warning.
I popped around the corner and the local garage scanned it and it came up steering wheel angle sensor was fault. Would that cause all those lights to come up? I drove home and the car felt OK bar the flashing lights!
Could a faulty battery cause this because to me it sounds a bit tired when starting some times.

Thanks in advance.