brakes! please help

Nicks3rep

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I have an a3 8p 2.0 tfsi. I have put new discs, pads and hubs on the rear but once I started driving the abs and epc lights came on then when I got to 60 mph the big red brakes! Warning came on. I had the AA out and once plugged in their diagnostic showed (right rear speed sensor - signal implausible) so today I changed the abs sensor on that wheel for a new one. However now when I start driving the lights go off and then the abs and epc lights comes on again at around 40 and the the brakes! Light still comes on at 60.
Can anyone tell me if it is because the fault codes need clearing or is it likely that there are further problems??
 

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