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    ABS & ESP Lights Staying On

    My 1998 audi a3 1.6 failed mot because the ABS light was staying on. I get 3 beeps every now and then, and a red light with (!). this light/beeps goes and comes (the ABS has been known to come and go but is now staying).... I had the car scanned and it gave me intermittent wheel speed sensor...