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S500 w220 abs problem

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Diagnostics showed a faulty r/h front abs wheel sensor.
Replaced this with a genuine sensor and the problem remains-abs warning light staying.
Other symptoms are-heavy steering,slight judder from brake pedal(this is intermittent) and gearbox sticking in gears.
The diagnostics are still showing a faulty sensor readings.
I have checked the abs ring-this was replaced along with the wheel bearing not too long ago.
The abs light and the heavy steering was intermittent before the bearing was replaced however.
Any bright ideas chaps?

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