Possibly a faulty/damaged wheel speed sensor (also known as an ABS sensor) - very common on the Mk5 and Mk6 and causes the errors you have got.
Assuming this is the issue, its a cheap fix and easy to replace.
You will need to use a scan tool to find out which wheel has the issue, because they have different part number (and shape) wheel speed sensors depending on front axle/rear axle and left side/right side.
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