My 2002, Disco2 with 135k was starting to get intermittent 3 amigos usually after hitting the brakes. If you restarted the vehicle they went away. I was getting ready to do the shuttle valve and check the wheel sensors. I recently starting to have issues with the vehicle starting occasionally needed a jump, the battery never went totally dead though.

I went to Autozone and had the battery tested and it tested in the weak to fail zone. I got a new battery and no more amigos!!! I read on other boards that low battery voltage can trigger the amigos. That made sense because when barking there is a momentary drop in voltage and if the voltage went below 12.2 it can and did, in my case trigger the amigos.

Before you go and do all that work make sure your battery isn't starting to fail.

 

Sounds like you probably have the 3 amigos. You should get a scanner.