Posting for completeness of original  Bosch sensor   0x80 = 128 decimal 0x70 = 112 decimal BO_ 128 DRS_TX_ID2: 8 DRS_MM3x SG_ AX1 : 32|16@1+ (0.00012742,-4.1768) [-4.1768|4.1765] “g” ABS SG_ YawAcc : 0|16@1+ (0.125,-4096) [-4096|4095] “°/s²” ABS BO_ 112 DRS_TX_ID1: 8 DRS_MM3x SG_ AY1 : 32|16@1+ (0.00012742,-4.1768) [-4.1768|4.1765] “g” ABS SG_ Yaw : 0|16@1+ (0.005,-163.84) [-163.84|163.83] “°/s” ABS         ID 0x70 BYTE 0 + BYTE 1 (16 bits) is yaw rate : (RAW * 0.005) -163.84) = YAW °/s [range -163.84|163.83] ID 0x70 BYTE 4 + BYTE 5 (16 bits) is Y Acceler : (RAW * 0.00012742) –4.1768) = Y ACC “g” [range -4.1768|4.1765]   ID 0x70 BYTE 0 + BYTE 1 (16 bits) is yaw Accel : (RAW * 0.125) -4096) = YAW ACC °/s2 [range -4096|4095] ID 0x70 BYTE 4 + BYTE 5 (16 bits) is Y Acceler : (RAW * 0.00012742) –4.1768) = Y ACC “g” [range -4.1768|4.1765]

If you wanted a small LCD the mimics the factory dash that would be NZD$10- 20 in parts.   ESP32 board with tiny LCD screen. ESP32 have built in canbus controller. https://www.aliexpress.com/item/1005007342383107.html $7   Canbus transceiver. Does the actual canbus voltages and signals? https://www.aliexpress.com/item/1005006832397047.html $3 note: this is a 5v part so needs a 4k7 ohm resistor between the RX on canbus board and the esp32 which needs 3.3v max   5v voltage regulator like 7805 series, nothing fancy. $0.5   Some wire to canbus and power etc. free any old network cable works fine for canbus   Same hardware ESP32 can also connect to any aftermarket dash with a digital PWM input simultaneously. The code on ESP32 could just duty cycle state of the diff. something like… percent duty on the input 0 auto 10 auto - 20 auto + 30 manual level 1 40 manual level 2 60 manual level 3 70 manual level 4 80 manual level 5 90  manual level 6 100 error in dash set the labels to show based on duty eg 0-5% duty show auto, 6-15 auto- etc Or… if you have aftermarket ecu and dash already it’s FREE.   Add a math or table function/block in the ecu that takes the OEM canbus, which it’s connected to already to or you couldn’t press start or see si-drive state etc. Then have that displayed on the dash.   Emtron has a canbus gauge that seems to have an app to make custom screens so that could be an option. Make 4 little icon for manual auto - + etc and have those shown based on ecu messages. Then can math the 1-6 into front rear bias based on the DCCD year which Subaru publish. Eg 50-50 front to 35-65 or just have the 1-6 bars like OEM dash.   Emtron call them calculated channels, for software use only eg  logger and dash. https://help.emtronaustralia.com.au/emtune/Newtopic254.html

Interesting. Had been talking to Niran and reading up on a few others having the same dilemma and they had all basically said you'd have to pay to have it sorted which could be big bucks to get sorted. 

@Andy_Mac  Looking at 6MT manual DCCD has only 2 data points.   From manual… DCCD mode  0 manual or 1 auto 1 auto - 2 auto (defaults back to this when set to manual mode) 3 auto +     DCCD torque distribution  0 when in auto mode 1 free 2 3 4 5 6 lock   On another page it states in error state the dash alternates from displaying 1 to 6 every second eg 1Hz but it doesn’t state if that’s sent from the DCCD controller as messages with 1 and 6 or it just sends an single error message and the dash then blinks that sequence. Only way to tell would be make DCCD have and error and then look at the messages. Canbus can have 8 bytes in a message the this uses only 2 so it can have error or operational state in the other 6 bytes.     I found someone had already decoded it and posted publicly so if your dash can do canbus you can configure it with the below….   ID 0x430 BYTE 1 is Differential Control Bit 3 = 1 “Auto” , 0 “Manual” Bit 0/1 = 11 is “+” , 10 is “-” , 01 “no change” , 01 also in Manual /automatic mode   BYTE 2 is Differential Control level Bit0,1,2  000 – 1 level 001 – 2 level 010 – 3 level 011 – 4 level 100 – 5 level 101 – 6 level When “AUTO” select Diff control level is always 000 Looking at manual vs decoded there is a difference in lock and free level. Manual has 0-6 and the decoded has 0-5 which could just be a typo in the post.    

I’m getting more convinced that the roof insulation and soundproofing makes a big difference to exhaust drone.