Hi Klaui!
I also had the same problem with my A4. In my case, it was a barely visible crack in the sensor ring on the outer joint of the drive shaft HR.
I've also been looking for this error for almost years...
Ultimately, I have recorded several instances where the speed was consistently around 15 km/h, but the HR values fluctuated slightly, sometimes a little faster or slower, compared to the other 3 values, which always showed the same synchronized reading.
So wurde dann die Antriebswelle demontiert, and siehe da, a "Tal" im GeberRing war wg. A crack of about 0.5mm, and that was it.
And yes, the BremsenStG (Braking System) disconnects the connection at speeds over 20 km/h for safety reasons. Going faster than 20 km/h is not allowed.
Best regards from Munich!
1. S.verlängerung: Audi A4 Avant quattro, 1,9 TDi MKB: AFN, BJ98, Vollausstattung, +VP1L
2. Moped BMW K1200RS, 130 PS, BJ98, Vollausst.
3. T5 1,9 TDI PD (AXC), BJ04 - nur Ărger!