Clearancediver, that's a really interesting comment. My 'three lights on', 5df0/5df1 problem coincided with me not really using the car over winter and flattening the battery. Have since bought a CTEK conditioner, but when I got these fault codes I also had a low battery code come up. Not sure if I need a new battery, but since I fully charged it, the lights went out, but now back on again after a day!
Is it your experience that low battery can cause this, or is this a known thing?
BTW, I cleaned the rear ABS sensors, although there's not really much to clean, but not yet looked at the fronts.