ABS Error - 1KPH from all sensors?

[Samby]

Hi all

I'm troubleshooting an intermittent ESP/ABS error on my Peugeot Partner B9 from 2011.
An intermittent error shows up within the first few minutes of driving.

It's a C1321 error code referring to the front left sensor error, but when looking at the freezeframe data all wheel sensors show 1KPH at the time of the fault.
I pulled the code 3 times, all with the 1kph wheel sensor speed but vehicle speed at 50-70 kph.

Live data looks good and aligned on all sensors before & after the error, though I cannot monitor beyond 10 kph.
All sensors read 0 kph when stationary. ABS works fine until the error appears. No other ABS errors.

The data to the fault mechanism looks strangely digital to me, making me question whether the front left sensor is the right place to start.
With the sensor screw rusted and stuck as well, I'm further inclined to consider other options.

Would anyone know of a relay, electrical fault or other known reason for the ABS system to produce such data & error?

Ps. diagnosed with Autel Maxi AP200

Good reading / live data

C1321 Error Freeze frame

[GiveMeABreak]

As your diagnostic scan is pointing to the front left sensor, you may gave an intermittent fault. When this kicks in, as you have realised, it will affect all ESP operations including cruise control. It will reset once the vehicle has been switched off, but will self-test once the ignition is turned back on. If the same fault remains or comes on after a drive it's likely to be an intermittent fault.

It really only can be the ESP ECU or the front wheel speed sensor or the electrical connection from the sensor to the ESP ECU, or the electrical connection at the plug.