I had the exact same problem on my 2002 2.5 CRD. The airbag light would come on and go off randomly. I noticed that if I moved the wires just below the steering column plastic then the bug would change. The 4 airbag wires for the driver side goes through the clock spring, which could be a problem and then to a connector below the plastic covers around the steering column. The colors of these wires are: BK/LB DG/LB OR/LB TN/LB where LB is Light Brown, BK is Black, DG is Dark Green. TN is Tan and OR is Orange. I found I had contact problems within this connector...I could clean and re-tension the contacts and the Airbag light would go out only to come back a few days/weeks later. I then cut off the connectors and directly soldered the wires straight through one-to-one and have not had a problem since. Interesting to note is that this connector has a small metal plate built into it that will short out all four pins, on the airbag side, the instant you pull the connector apart...probably to protect the airbag from stray EMF or random voltages.
This may or may not be where your problem lies as of course there are passenger and curtain airbags as well but there is more movement around the steering wheel so that is where you would expect loose connections.