Intermittent ABS, ESP, speedo fail

[Cadburry]

My speedometer works half the time, and most of the time the ABS and ESP lights are on.

Here are the codes I retrieved:

01826 - Sensor for Steering Angle (G85); Supply Voltage Terminal 30
35-10 - - - Intermittent
00285 - ABS Wheel Speed Sensor; Front Right (G45)
30-10 - Open or Short to Plus - Intermittent
00283 - ABS Wheel Speed Sensor; Front Left (G47)
30-00 - Open or Short to Plus
16885 - Vehicle Speed Sensor
P0501 - 004 - Implausible Signal - Intermitten

I'm tempted to think the ABS control module is at fault, but before taking it out for repair, I'd like some feedback from the pros!

[onceover]

Have you tried a new wheel speed sensor before you do? Aftermarket ones are like $15. Start with one and swap it to both sides.

ABS module can come out without removing the brake lines if that's what it is. It's a bit of a squeeze but can be done