u/BeatyWithatSierra

For Context, I have 2015 Q50 awd premium and now with 142k miles on engine and 30k miles on transmission, I have a bolt on muffler delete kit, non res test pipes ( which have an exhaust leak ) a drop in filter and a 5 map tune, with flames and burbles, I replaced injectors, spark plugs, coil packs before tuning, and I want to know what causes the other code with the car, the 4 wheel active steer caught me by surprise since nothing has happened with the steering at all, the light came on after I was overtaking a semi after work, any fixes and advice would be appreciated !