It's tricky pinning down the fault, mine came on at slow speed right turns, it suggested crud or damaged bearing on the rear off side. Front wheel off and I saw insulation missing on the sensor cable (rubbing on wheel) Fixed that and light still on, so replaced the rear offside bearing. There was crud from a rusty backplate, did that and light popped on still. So I disconnected battery for 15 mins, reconnected and all is now fine. Now, it's been suggested that a battery disconnect does nothing to cure some electrical faults, I believe it works, a reset as it were.
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