Audi 8L ESP CAN for ADU

Hi everyone, I need to receive the speed from an ESP on an Audi S3 8L for the ADU. I’ve done the same thing on an E46, but I’m having trouble with this car. I know the EMUBlack has this function, but I wanted to use CAN2 only for ABS and Haldex, since CAN1 is at 1 Mbit with GPS, EMUBlack.

Does anyone have a suggestion or have you done something similar before?