Might be worth giving the brakes some stick and seeing if the ABS actually works or not, if the ABS works there's a likelihood that its
the dreaded G201 - pressure sensor fault.
Mine suffered the failure and dealer tried to sting me for a complete ABS/ESP unit weighing in at about £1500 with labour!
Fortunately they do a repair kit so I did it myself for sub £300.
Have a route round in the VCDS forum to see if there is anyone local who can scan your car for you.