this is a common problem for all 2.0 litre tdi vag i know I used to work for VAg Designing stuff. You need to give the engine a good run down the motor way. As small run cause soot build up triggering the fault. Several guys had this problem with there VAG as the got new one every 6 months due to there short commute with in 2 weeks of getting the car. If it won't clear as the soot has caked on it better to get replaced as i very much doubt a steam clean will do it it need to be physical remove of the sensor. this the soot will stick in a similar matter like leftover weetabix and milk!
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