Same thing happened to me. Changed both rear bearings and sensors while I was there. The rings on the back of the bearing were kaput. Easy enough to do, you'll need an m18 spline socket and a basic tool kit. There's also 2 options on rear bearing size. Most common are 30mm. Obviously you'll need to scan it for fault codes first, but my money is on the bearings. Also you'll need to torque the bearings back up to the correct setting
