One problem related to brake sensor has been reported for the 2001 Audi A6. The most recently reported issues are listed below. Please also check out the statistics and reliability analysis of the 2001 Audi A6 based on all problems reported for the 2001 A6.
Abs/esp light would come on after driving for 60 minutes or more, usually went off if vehicle restarted, this became more frequent over course of 10 months until light stayed on all the time, wheel sensors had to be changed at significant cost to fix problem.