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Without going through the manual, I'd say that the temperature sensor is a thermocouple i.e.....
a joint between 2 wires of different metals. The "junction" creates a small voltage depending on temperature.
Generally, the wires are plugged into a computer which interperates the voltage as a reading.
Either the plug is wet or dirty ( most likely) or the junction is cracked. The fact that it works at all makes the latter unlikely. The joint might be cracked but still rubbing together, but generally it should either work or not.
Currently in thunderbird2's garage:
2002 Audi A4 Avant