I'm surprised you are not getting the Three Amigos, but this sounds like a sensor. You can grab a cheap one from ebay that has the original connector, and fix it easily. This is exactly what my truck would do when I had a bad front sensor, but the Amigos would go off.

 

Just had the same issue. I rushed the rebuild and on one side I felt the speed sensor didn't seat correctly. I had the TC kicking in especially when turning right.

I found some local o-rings (1.5mm 17/19mm that seemed about right) and replaced the one that hadn't seated. TC stopped, but then I got the FOUR Amigos ('03 D2). ABS/TC/Hill Descent/Brake.

I tried cleaning out that hub but didn't help. Next I'll try cleaning out the other side too. I've ordered a new scanner because mine won't read the abs data.

Just wondering what the specs are on the O-ring are and if the one I used was ok?

 

So I purchased two new cheapo ABS sensors on ebay. I went to replace them and noticed that the ABS sensor wasn't seated flush and that may have been causing my issue. I installed the two new ones and within 10 miles I got the Three amigos. Stay tuned......

 

I got a icarsoft scanner and it indicated the right front sensor was bad. I am waiting on a new sensor too - first one received was a rear (too short) but vendor is sending me the proper one at no extra charge. Hope this solves the TC/4 Amigos issues.

 

Scott which ICARSOFT scanner did you buy? I tried searching Amazon but so many came up. Thanks.

 

I got the icarsoft LR II

I updated the software without issue following the instructions on their website.
I think the interface is a bit clunky, but haven't fully 'played' with it yet to get to know how it works best. Documentation seems to be lacking. I didn't mind buying this model because I know that some time in the future I plan on a Jag XKR

I have an ultraguage and other scanners but none read the ABS stuff.

 

Replaced front sensor and reset codes Friday night. LRD2 seems to be fine now. Only two concerns.
1) The right front sensor runs thru the wheel arch to a connector. The male part of the connector (harness side) almost disintegrated when I removed the old sensor. I had to fudge it together and wrap in tape. If anyone knows the wiring from the sensor connector to the unit, and if this is replaceable please let me know.
2) The o-ring I used was one I found locally, not sure if it is the right spec but seems to be ok.

All in all I'm glad to have new ball joints and my 4-amigos resolved.

 

X1 ............ The cables on the front sensors fracture due to steering use over time and often throw the 3 Amigos. Try fitting 2# new front sensors then clear down any codes.