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My local specialist has had the car in for a week, he's fitted a replacement ABS sensor on the wheel we thought was causing the problem, he's finding no fault codes. He has also checked the tone wheel as we thought this might be causing the problem. I guess it needs to go into Audi themselves to see...

wonder of any of you guys can help me out too, suffering similar probs, ABS seems to kick in at very low speed, just before you come to a stop. Had the ABS sensor replaced and has made the problem a little better but not solved it.Only had the car a couple of weeks and not really got to enjoy it yet...