ESP ABS faults

[sdelol]

hello,

i have a ds3 1.6 hdi 2014 uk with a esp abs faults.
i changed the abs sensor on the left hand side as stated however the faults are still persistent and also haven't gone away even after clearing the fault codes using diagbox i am currently at a loss because i am unable to drive my ds3 and currently stuck with a raggedy fiesta any advice would be much appreciated the codes are provided below.

i have had a friend over who scanned the codes using his diagbox and the codes are listed below in full ive included the image too:

ESP MK100 FAULT READING
C1321 Left-hand front wheel sensor signal fault
Properties
From Local
Status Permanent
Characterisation of the fault Coherence
List of associated variables
Communication error

C1391 Engine torque not cleared fault
Status : Intermittent
Characterisation of the fault : Not characterised
List of associated variables : Communication error

[sdelol]

my VIN is VF7**************[VIN obfuscated, can be read by forum staff]

[RichardW]

If you clear the fault, when does it come back? Immediately or only when you drive it? At a guess as it's reporting a coherence fault not a circuit fault, the magnetic ring in the bearing is faulty, or there is a build up of rust on the sensor mount causing an air gap problem.

[sdelol]

when i clear the fault, the fault comes back the moment i go to like 10 mph or more, ive sanded the rust away, the old abs sensor looked like it was replaced by its old owner was grounded down to reduce the air gap and there was a build up of grease on the abs sensor it self meaning it they tried it the air gap issue.

[RichardW]

Almost certainly needs a wheel bearing then....

[sdelol]

Thing is it not recently had that exact bearing replaced like 2-3 months ago.

[RichardW]

Has it worked at all since?