The Audi PSM is not VIN encoded meaning a replacement with a suitable replacement part number should be plug-n-play. However it needs specific programming to work in your vehicle because there are lots of trim options that could vary.
It's best to get your original PSM refurbished and that includes programming as well which will clear the B2000 DTC and the warning message 'Steering Defective!' that is displayed on the instrument cluster.
After we repair and reprogram your PSM, your vehicle should have steering ability again and the codes will be cleared providing there are no other computer or mechanical failures in the vehicle.
Always make sure to disconnect the negative terminal on the battery prior to reinstallation.