I was driving along and had a bang from the back of the car, felt like I ran over something quite big, lost all drive and coasted to the side of the road. Turned the car off and restarted and had the 3 lights come on the dash, abs,esp and traction control, the car still drove fine if somewhat sluggish and held onto lower gears more than normal, so popped to my local garage who read the codes, it all pointed to the offside rear sensor and ring, got both replaced and the dash lights went out and the car also drove normally again. It's not an expensive job to fix, sourced both the sensor and ring for £25 and £60 to fit. Just waiting for the rear nearside to fail now...