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worst case scenario is that you have to replace each and every sensor, over $1000 dollars, but typically its $200 or less to fix. Best place to go is the dealer service shop, next best is your nearest repair shop.
If it makes a clunk-clunk-clunk sound while turning, it's your front CV joint that's bad. Check to see if the front CV rubber boot is ripped/torn, on either side of the car. The CV boots are located inside/behind the wheels, where the drive axle hooks up to the wheel. If damaged, you will probably have to replace the entire CV axle.
Usually when this happens it tells the tech that the left outer CV Joint is starting to dry up from lose of grease. The rubber boot could be torn and spitting out grease. When you turn right, most of the car's weight is tranfered to the left wheel. The same thing happens when you turn left, the weight is transfered to the right wheel. Lift it up and inspect the Constant Velocity Joints inner and outter rubber boots for leakage or tearing, there are two each axle. Most of the time it would only need a new boot and repacked with high temp grease.
If there is only one sensor faulty you should be able to replace that one.If for any reason one abs wheel sensor cannot connect to the abs system reader it stopes working.It means your brakes working just as fine but the Anti Block System is not functioning anymore.Your car will certainly pass the mot without ABS.
drive shaft universals worn.check rubber boots ok with no splits or or leaking grease.If boots have split and dirt got in then change the ends only,but its possible to remove the end and by turning cage around extract the ball bearings,wash the lot out with diesel and fit a new boot and re pack with grease ---yes i know it could still knock a bit and fitting new yea yea but it might work and evan if their is a bit of noise on turn ignore it till it gets really bad as they could last another 100,000 kms