Repeated intermittent ABS light issues

[Markiii]

Been getting repeated but intermittent ABS light issues, with accompanying ECP error over the last few weeks.

Pretty much in each case preceded by a bump in the road and a triggering of the ABS under braking.

Always self clears after teh ignition is cycled .

I'm guessing ABS sensor though who knows which one. Anything else likely to be the cause?

Pads and disks are pretty new and loads of wear left but generally I'm also notice a roughness under heavy braking if that possibly related??