Hey i’ve been getting this error for the past week, it pops up couple of times per day it shows the steering wheel in orange , any help ?

skoda rapid 2016

Quite possibly the very common problem with the microswitch in your gear selector mechanism.  This is from the Octavia forum, but it affects a broad range of VAG cars:

 

 

If it's still under warranty, best get it in to the dealers.

 

Gaz