Had this on the old Fabia, turned-out to be some wiring started to detached themselves from their connector.

Garage job, as as said it could be a million other things to trigger management light.

Had the warning light on again two days ago, did what I had to do then went in to the main VAG dealer in Girona. They confirmed it was the sensor, and repaired it the next day at a cost of £140. Spotless workshop, covers on seat, cover on gear lever and service with a smile.