Did you splice the two can wires under the dash to connect the can signal to the back harness?
Also, Haldex pump failures are common, the filter gets clogged, and the pump runs all the time, burning the brushes out.
Clear the error, and if it returns or you don't have AWD (You will know pretty quickly in the v6 if you don't) you will need a new pump and filter for a rebuild.
vagparts.com.au/products/0ay598549a-haldex-pre-charging-pump-mk6-8p-2
Gen 4 Haldex Service Kit - Genuine - Volkswagen MK5/6 & Audi 8P/8J — VAGPARTS Australia
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