A2 1.4 AUA ABS warning light

Hello mates. Today my A2 1.4 AUA late 2001 have a abs warning light message.
I was driving with a 50km/h and i fell the front left weal starting to break by it self. The road was straight and dry.
After stopping and restarting the engine every thing was back to normal. When i come back home i make a scan with vag com and those are the messages.

01130 - ABS Operation
27-10 Implausible signal - intermittent
01542 - Yaw Rate Sensor (G202)
57-10 - Electric Circuit failure - Intermittent

So i think after reading some comments online ,i thing the problem is G202.

Can some one give me more information how too test the G202 before spending money on the new one?
 
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