So it started with the Trac light coming on and staying on while driving and not being able to turn it off. Turns off with key switch to off. Now getting the ABS and BRAKE light flashing as well as the alert chime, flashes for 5 - 10 secs then they go off and the then the Trac light comes back on and stays on. No evidence of the ABS system engaging. Vag- Com says turn rate sensor (yaw sensor), I replaced it (this is the one under the rear seat). The issue/symptoms are still there. Any advice ?

TIA - Scott