I have experienced something similar that I characterize as a “stutter” for the last couple of years.
It seems to be completely random other than it only occurs in warmer temperatures. From late fall to early spring, it never happens. I could be driving down the highway at a constant speed and all of a sudden, it stutters for a split second. It may not happen again for a day, or a week or longer but sometimes it will happen several times in quick succession. If I am rolling down the road, the momentum of the car will carry it through but if I am at a stop light with my foot on the brake, the engine will stall.
If it happens a number of times in a row, the EPC light will come on and the car goes into “limp” mode. I occasionally get the same HP fuel sensor fault that you are getting.
Last year, I spent a lot of time logging with VCDS with the hope of picking up some sensor data from one of these “stuttering” incidents. Below is ten seconds worth of data of the actual and target fuel pressure readings along with the injector time.
http://audirevolution.net/addons/albums/images/921055308.jpg
You can see that the actual fuel pressure follows the target closely except for a single dip where the actual fuel pressure dips to 20bar
There must be something off in the time stamp as the indicated injection time increase in reaction to the indicated drop in fuel pressure is reversed. In reality, the injection time would increase after a decrease in fuel pressure occurs. The indicated drop in fuel pressure to 20 bar is the result of a momentary short to ground on the ecu input from the sensor. I verified this by intercepting the signal wire and then touching it to ground briefly while the car was idling. It produced the same stuttering event.
If I grounded it and left it grounded, the engine would stutter and then recover. You can drive it in this state but you will have no power. I was also able to get the engine to stall by connecting and disconnecting the lead to ground in rapid succession.
I believe in my situation, there is an issue at the ecu connector. Since I have the engine and all the electrical out of the car right now, I can take the opportunity to replace the entire wire including the terminals in the connectors at both ends.
I should note that I had also replaced the sensor early on in case it was shorting internally. It did not resolve the issue.