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HELP REQUIRED for Mk4 R32

About a week ago my R32 ABS light started to flash whilst the parking light flashed and a horrible beeping noise constantly goes off, I have plugged in a Vag com and checked ABS faults which displays the following;
ESP ALLRAD MK60
0101

When reading the DTC
Drivers ABS speed sensors fault was present.
I have changed the speed sensor and cabling which has cleared the DTC but the ESP ALLRAD MK60 fault keeps coming back and the lights remain flashing with the horrible audio tone.

Can any help me clear this fault please the noise is driving me crazy aghhhhhhhh....
 
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