Oh dear @Zokes you’d have to be a long way from home to convince me a LR is better than a BMW.
Well, I am, so it is, so ner 😛
Given that I commute by bike, and MrsZ commutes by bus, it does actually spend a reasonable percentage of its driving time nowhere near tarmac. BMWs aren’t much use for that, not even the ones that drive all four wheels.
But back on topic, my old pug 306 threw similar errors, and always an inexpensive ABS sensor fixed them. Same for my old mondeo. I have to say as someone else said above though, the law of sod dictates that as soon as you change one, another one goes shortly after.