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The grinding sound with ABS light could be the abs activating.. I note you mention they replaced the sensor, but they also need to carefully inspect the tone ring that the abs sensor actually senses..that normally on the driveshaft outer cv..any small crack or missing tooth on that ring could flag up an ABS sensor code... Although the ABS assists with hard braking its not at all dangerous to drive the car...but it not something that should be ignored as itnow a instant fail on MOT.... but if you brake pads are low or nearing the metal backing with very little braking material left - both inner and outer pad.then they should actually be replaced.. Any other questions?
Its called a "tone ring" this what the abs sensor needs to see for it to send a signal back to the abs control module..
Well ABS faults arent that all uncommon, most good mechanics with the proper diagnostic tools,scope's ,and visually checking the tone ring can diagnose and sort this....
Unless you have a decent scan tool to plug it in as the fault occurs, then thats the only way we will know what kind of problem is occuring here?
It should do.. but if i was to advise..get it properly diagnosed first and take it from there...these systems arent that hard to diagnose..so any decent mechanic with proper equipment should be able to reach a solution and a fix quite easily..