Limp Mode, Bunch of random codes

Audi A6 2015 ultra 2.0tdi auto:

Was driving and had orange glowplug light come on, car immediately went into limp mode and engine light also on. Parked the car and turned it off for couple of min. Came back and when i started car the glowplug light was there but this time with orange airbag light aswell, still on after clearing. plus TPMS warning+ ESC came on for 5/10 seconds. First thing i did was get battery tested and was told its fine ,

LOWEST VOLTAGE: 10.18v ( not sure if this ok but was told by lad at kwikfit it passed their test)

CHARGING TEST LOAD ON : 13.47 V PASS

DIODE RIPPLE :0.11 V PASS

What are your insights?

(The p2002 has been on for the past week and car is booked in to get that sorted)