I'm just seeing now... it seems like this feedback is still missing? It probably got lost in the rush

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After extensive research, I finally found the correct coding (16776) for my Allroad. By subtracting 16384 for the trailer hitch function, the errors disappeared, and now I can switch ESP to "Offroad" mode, or if I press and hold it, I can completely disable it.
I don't know where the 16008 came from, but I already had that value in the old car scanner when I bought it. It could never have worked with that value because I need to subtract 16384 for the installed trailer hitch control unit. So now, after subtracting 16384 from 16776, we get 0000392, and everything is working again. Maybe someone mistakenly subtracted 768, I have no idea.