Bump for this,
I have taken the rear wheel speed sensors out and cleaned them, they were not very dirty, didn't fix the issue.
My friend loaned me his code reader, and we managed to get these codes out:
5DF0
DSC: Hydraulic unit pump motor
5DF1
DSC: Hydraulic unit pump motor connector faulty
Looking around the internet it seems this could be a faulty ABS module.
Has anyone ever dealt with these codes before and have some advice?
Cheers