Careful here Sam, 01435 is the code for an implausible brake pressure signal on a VW, as the Ross Tech Wiki points out - the brake light switch can generate this fault.
The ECU may see the brake light switch operate with no corresponding rise in pressure & generate the 01435 code.
If you can access live data to view the brake pressure sensor reading though, you will possibly find it is reading 190 > 210 bar without any pressure applied to the hydraulic circuit.
The pressure sensor is a piezo electric crystal which collapses & goes open circuit which generates a reading of 190 bar +.
The Brake Pressure Sensor on the pre November 05 Touaregs is NOT in the ECU (as it is in the Teves MK60 system)
This vehicle uses the Teves MK25 Allrad system & if pre Nov '05 has the G201 pressure sensor in the bottom of the master cylinder (it's about £25)

You can access it & change it quite easily by removing the false bulkhead behind the engine on the O/S (the master cylinder sits below the PCM)
Dribble some brake fluid into it first & you won't have to bother bleeding the brakes.
It may need to be base set when fitted - but more often than not you can get away with it.
don't change the ABS / ESP ECU until you have checked this out - they are known to fail.

hth,

Jon.