Three Warning Lights come on together, Stability, TPMS and Steering Angle

I'm getting randomly Three Warning Lights come on together, Stability, TPMS and Steering Angle with a loud BEEP!

I've tried to scan the system I did find a few code stored?

An Engine one U111300 but can't find and info on this one?

A Steering Angle one 00778

and a second one for a steering sensor 03110

The thing is I don't know what to do next?

Not taking it to Audi for a huge BILL!

Anyone know where I should start looking?

Thanks

hi
to answer your question where to start how old is battery?try and replace with a new battery of the same specifications.
that might clear the dashboard warning lights. i have vw golf 1.9 tdi which had a problem with dashboard warning lights coming on when ignition on.
The vw specialists wanted to replace various sensors after a car scan but all along it was a weak battery that was sending the wrong signals.