Same issue here, i changed the sensor (too late, after 20 cycles so the 'stop driving' error never cleared) i just kept driving, presuming that because the sensor was new the whole thing is a ridiculous digital issue rather than mechanical issue with the brakes. That was 6 months / 15,000 miles ago, and the brakes have been fine. I've got the MOT next week and concerned that because of the light on the dash it'll fail. Does anyone know who can attempt the ABS refurb/reset? Best try that before the £3k dealer battle.
Thanks for you time!