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check the abs fuse to see if it as blown they system may just be putting more pressure on different parts at differnt times because it is not getting proper control, also if the breaks are new you might consider using a dab of break cement on the back side of the pads and shoes to allow for proper release from the drums/rotors.
Check for disconnected ABS sensors. The front sensors in the front are located next to the axle shafts. The rear sensor is located on the rear differential housing itself on top, in the middle. The ABS is monitored by the computer for performance. The ABS kicks on when the vehicle comes from a certain speed to a dead stop, keeping the wheels from locking up. That could be the reason for the speedometer not working. Or it could be a bad speed sensor. Both can also trigger the check engine light because it is monitored by the computer. The brake light usually comes on due to low fluid level. It can trigger the light, but not be low enough to impact brake performance.
I hope this helps.
Issue with your master line... Check for Rusty and Pinch Line along the Frame at the Back Check Rubber Line Joint for leaking Oil ..Check Level Gauge into Brake Container for bad connection
Yes there is a abs sensor on each wheel. You should be able to see the wire's going to it.The sensor itself it easily damaged and will most likely break if you try to remove it so if one faulty you may end up changing both if you change the faulty one first you will only need one but it change the good one as it will probably break removing then you will need both their is no way to check for the faulty one other than try a new one. They can check in the audi workshop but would cost a bit
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