ive swapped ecu/speedo/ignition/steering angle sensor all from doner vehicle all same part numbers on ecu car starts ok runs fine but the yellow steering wheel light is on and the steering is very heavy as if no power steering at all does it need coding in or somthing? It worked fine b4

If driving in a straight line doesn't work then it needs the basic settings doing with VCDS.

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Turn steering all the way to the left and hold for a few seconds then turn all the way to the right and hold then drive in a straight line up to 30 mph. It should go out. If not then steering angle sensor coding or basic settings or both are required.

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you will need to perform basic settings on the G85