Traction control light 2005 A4 2.0TDI B7

nix

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Hi, I have a 2005 A4 B7 2.0 tdi. At first the traction light would come on during a short trip once i've applied brakes after restarting the car it would reset,now it is staying on constantly.
The diagnostic :
00493-ESP-Sensor Unit (G419)
008-Implausable signal.

Ive noticed that with the light on, if i'm making a sharp left/right turn(LOW SPEED) and pressing the brakes the abs kicks in.
I've rotated all 4 wheels,done an output test on the ABS all is working, cleaned and checked the wheel speed sensors(all recording the correct speed) Changed the brake light switch.
Any ideas as to what could be wrong or what to do?