I fixed one the other day that had the exact same symptoms as yours. Changed the sensor but to no avail. Changed the bearing (abs ring attached to it) took it for a short drive and the light went out. Cleared the codes with VCDS, checked a couple of days later and it hadn't came back.
Bearing is easy enough to change, take off the brake disc carrier, remove the brake disc, remove the grease cap and undo the nut. The bearing should then just slide off.