I get intermittent 3 amigos but only when I add a lot of weight (cargo) to the rear of my 03 Disco. It happens maybe a block after I drive away. I can always clear them by stopping - Turning off the truck - Opening and closing a door - Waiting 30 seconds and restarting. Then the amigos don't come back until I unload the car and the weight changes. I clear them the same way and they rarely come back until I load up the vehicle again. Rather than paying a stealer to read the ABS codes, does this indicate a rear sensor? I can replace them for a couple hundred. I've tested the TC and hill descent option when the Amigos are off and they both work fine. Only when the hill descent is enabled it does make kind of a rumbling sound from the engine compartment when the ABS is slowing down the truck. But I assume that's just the hydraulics doing their thing?

 

Sounds like a bad rear wheel speed sensor, now it is just finding out which one.
But before you buy a new one follow the wires from the wheels as far as you can and see if the wires are chaffing anywhere.