Just as I thought I was making progress ....
After weeks of zero time spent on the S4 (worked in Vegas for a week!) I finally got some time on it today.
Got a new torque wrench for Xmas from the wife as my old one didn't go as high as 100nm as needed for some of the suspension. Got that all torqued up now.
Bought myself the Sealey vs820 brake bleeder tool. My old Gunson sounded like it was starting to leak and a lot of info online suggested I needed 28pdi (The Gunson only up to 20psi).
Started well, front left (passenger) bled quickly with 28psi, loads of air out, then new fluid. Front right did OK also. As I worked back, I needed to push up the PSI to get the fluid through, up to around 32psi but eventually got some air out and fluid through. Closed everything off, all four wheels back on and down on the ground for the first time in ages. Started up, still had ABS and ESP light on and the (!) light flashing.
Brake pedal went straight down to the floor
Absolutely no pressure at all. Quick scan was showing the ABS model as incorrectly coded which is strange and steering angle sensor, so need to sort those.
On the verge of giving up and getting a mobile mechanic in or having it towed to garage. So close yet so far