I'm no expert myself, but there are suggestions in some other threads. (1) Find someone with a Nanocom or similar and get the fault codes read. That will tell you where the issue is. Pending that, (2) check your front wheel bearings for play, (3) check the wires to the ABS speed sensors on all four wheels for breakages, (4) check the connectors and so on. Maybe (5) use a powerwash to clean any dirt from around the ABS sensors.
Take a look at these:
Technical Information
Another one
LR4x4


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