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Hi I have a Audi a5 3.0l TDI and have come across this egr code thrown on my my car. Ihave just taken the manifold out and cleaned it plus the swirl flaps, egr valve has been cleaned (the valve didnt look too bad) plus i also took out the sensor after the valve and cleaned it properly.
If anyone has had this problem or know of a way to test each component, it would be much appreciated

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You can check if EGR/Cooler is leaking air as a starting point. No point replacing components until you've tested.

You can also perform basic settings with VCDS to test the operation of the EGR. Which engine code do you have? If CCWA you can even perform an EGR Regeneration which will unblock the cooler.
 
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