New 2004 4Motion Passat owner, trying to fix ABS faults!

Hi everyone!
I have been a longtime VW owner (2000 Jetta TDI for the past 11 years) and do all of my own wrenching, so I am fairly well versed in Bentley manuals and VCDS/VagCom.

I have a newly-purchased 2004 Passat V6 4Motion with ESP with 126k miles, and it has the following ABS system faults:
00778 - Steering Angle Sensor (G85)
66-10 - Not Matched - Intermittent
01044 - Control Module Incorrectly Coded
35-00 - -

So I assume it needs the ABS module to be coded with the 5-digit option code, and the steering angle sensor to be tested &/or calibrated?

I have the full paper Bentley manual for this car, but it just had the following note for calibration:
"then adapt control module, see Scan Tool section", and I could find nothing in the Scan Tool section.

I tried the steering angle sensor caibration I found here:
VW Passat (3B) Brake Electronics (Bosch 5.7) - Ross-Tech Wiki)

The sensor appears to display the angle just fine when reading the measuring blocks, but trying the basic settings group 001 for calibration it just displays "ERROR Group 001 Not Available".

When I look up the control module it shows Component as:
VAG Number: 4B0 614517H
Component: ABS/ESP allrad 3428
Soft Coding: 00000
Shop #: WSC 00000

In the Bentley manual under ABS coding it had the following note:
Note 1 - Anti-Slip Regulation is not installed on vehicles with 4Motion all wheel drive. Coding of the ABS control module is not possible in these vehicles.

So how do you code the module for a 4Motion car? Does it also render it unable to calibrate the steering sensor?