For codable control module versions:

Sender for rotation rate -G202- and sensor for transverse acceleration -G200- are combined in one housing. 

The dual sensor (-G200-/-G202-) is located under the rear seat bench.

Fig 1: Locating Sender For Rotation Rate -G202- And Sensor For Transverse Acceleration -G200-

Courtesy of AUDI OF AMERICA, INC.

• Remove rear seat bench

  See REAR SEATS .

• Unscrew both nuts.
• Flip back protective housing and disconnect connector.
• Loosen both bolts and remove sensor from mounting plate.

Tightening torque for bolts and nuts: 5 Nm (44 in. lb)

Fig 2: Removing Sender For Rotation Rate -G202- And Sensor For Transverse Acceleration -G200-

Courtesy of AUDI OF AMERICA, INC.