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How do I actually get it coded? Can I do it myself or do you recommend a garage do it

Thanks for your reply mate. I’ve just done around 5-10 drive cycles since the DPF REGEN and on one of those drive cycles (6-7) glow light disappeared, Limp mode deactivated, after another few drive cycles the engine light disappeared…. I took it for a Motorway run to give that additional cleanse in 4th Gear around 3rpm for 15-20mins…. Came home let it run and switched it off. Is this problem solved, or is the ECU trying to find a fault again?

Hi guys new to this group, have this Audi a3 1.6TDI which had limp mode and could see the Glow Light Flashing, Engine,DPF Light On I’ve had the DPF cleaned and after all the Lights has gone, yet everytime I start the car the Glow light will flash and engine light will reappear after few seconds and limp mode returns.. Mechanic said EGR Circuit failure showing up in diagnostics and need to replace it or cap it? Any ideas what it could be? And what’s the best way? (Battery voltage showing low on OBD)