hi, one of the sensors sounds like its knackerd look on the rear of the front hubs for a black plastic gizmo make sure its together and not full of crap then look to where it passes through the hub and sits just of the splines on you cv joint area again make sure this is clean, check the wiring from the multi plug back up the inner wing for splits, on the rear its very similair last on ei came across was split under the car where he'd hit a rock or something hth
gary
July 2010