Quote:
Originally Posted by PsYcHe
Turns out it's a failed wheel bearing.. That noise I thought was just the tyre worn out was the bearing being gubbed, and it had reached the point where it was so far out of position it was missing the sensor..
Pretty common mis-diagnosis apparently. Another great job by A4Audi
Car is much quieter now, and no longer sounds like a cheap 80's rave when it starts up 
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Thanks PsYcHe, if you're still tuned in these days.
I had exactly the same issue; same wheel. ABS / ESP/ Parking Brake alarms and VCDS showed me that Right Rear ABS data was 'missing' from the ABS ECU. I put up with for them for two weeks until my trusted service guys could fit me in and suggested that they check the wheel bearing.
Bearing replaced; all DTCs and alarms cleared and gone ...
This is such a great forum ...
Julian