The Saga continues.....
I've got my mates L322 back together and running after overhauling the callipers, replacing all pipes and bleeding.

It has been stood for nearly 4 years without a battery. It fired up fine and after letting it run for a while I Carefully pulled it off the lift.
I attached an autel scanner and it picked up LOTS of issues, many of which appeared to be communication related, I'm guessing having been powered down for so long.

I erased the faults and fired it back up for a brief drive around the car park. This highlighted that the brakes were being applied at low speed, the ABS fault warning flashed on and traction control not available was displayed.

The epb was showing a fault so having had to pull the emergency release I went through the latching and installation process and that seemed to sort it.

There was also an issue with the speed control module so I started a recalibration process which required me to drive at over 30mph until the yellow 'follow' notification on the dash went out. At this point the vehicle drove fine and I did around 10 miles at various speeds with everything behaving itself trying the get the calibration process completed and the 'follow' notification out. It still hadn't gone out by the time I got back onto the site where the vehicle is stored so I assumed it would just pick up where it left off next time it went up the road??? maybe not.

I parked it up and grabbed some lunch, came back and ran another scan to check for error codes after the drive and there were a couple relating the motor (EGR sensor) and again parking brake. In neutral the parking brake works fine, it can be applied and relaesed by the switch and is doing what it should so I erased the codes and went to go for a drive. Now the vehicle will not drive at all with throttle applied. As soon as you touch the throttle the ABS system kiks in and applies the brakes. It will roll freely in neutral though and will trundle along at idle as long as you donl;t touch the throttle.

Back out with the Autel unit and there are no error codes. I've gone through steering sensor calibration, I've re-installed the epb module and speed control module via the autel unit but nothing it making any difference now.

Any tips greatly appreciated, this is my first play with a scanner and diagnostic tool so I'm a bit clueless. Having had a bit pf instrument experience in the past I'm thinking a logic diagram would be helpfull tp see what inputs go into the ABS/traction control system????

I'm guessing it must just be a coding issue as it was an issue, then it was fine and then it's become an issue again????

ABS ring on one of the shafts has swollen up and fallen off or snapped, possibly damaged a sensor

Check wheel speed data to see if all 4 sensors are reading the same

Thanks for the reply Mikey. I did check the speed sensor live data when I first pulled it off the lift as it was grabbing slightly then but they were ok. Cgecked them again today and the RHF and RHR are both reading zero. I suspect it may have flung some rust or scale off when I've road tested it.

Pulled it back on the lift and tried to remove the front right speed sensor carefully but it necked off in the hole. Fun and games when I get back to it next week I think. The hubs look like they are going to be be a swine to strip to get to the rings too. I'm guessing the rings are sweated on the end of the driveshaft?

Everything else seems to have cleared now with the exception of the right front camera which has fallen over too.