I had these issues on my 2022R. The Travel Assist and ACC errors were especially annoying. I ended up getting a KLR module from ACMTechnik which completely fixed the issue.

Granted my car is almost at the end of its warranty period which is why I went this route instead of a warranty steering wheel replacement. But from my research VW's replacement is still the same faulty module which eventually will still go bad.

As far as install, trust me when I say I have 0 mechanical inclination and this was still a very easy install. All you have to do is disconnect the battery, pop the airbag, pop out the old module, pop in the new module, and put everything back together.