W210 ABS problem driving me crazy!

[winslo]

w210 abs fault, NO lights on dash board, all brake lights work, cruise control does not

ABS is cutting in and can hear the springy noise and feel it under the pedal

Changed front discs and pads, both rear abs ring and both rear ABS sensors and STILL the bloody same!

No faults on star!

Any suggestions other than brake pedal switch?

 

[renault12ts]

Are all 4 tyres the same size?

 

[winslo]

yes all4 tyres are the same size all matching brand with same tread, also tried a different set of wheels but still the same

also forgot to mention sometimes when cornering the esp cuts in