Octavia II 2007 Brakes Issue. Help Please.

Hi folks, any advice or assistance will be much appreciated.

I have an Octy II, 2007, 2.0 TDI. and a few months ago I got the 'skidding car' warning light on the dash. It was confirmed the G201 fault code so despite the obvious satefy issue I trundled around in it intending to get around to DIYing the repair.  In the meantime and after a month or so of this warning light the ABS warning light illuminated.  After connecting it to VCDS it indicated ROS ABS sensor fault.  Both have to date not yet been repared.  In the last week, notwithstanding the necessary ESP and ABS repairs, the brakes have been funtioning normally but a few days ago when depressing the brake pedal to slow down there has been what I can only describe as a grinding noise as if it is eminating from under the pedal.  Yesterday as I was slowing from aaprox 20mph the brakes began rubbing/grinding with virually no effect.  I used the handbrake to slow and stop. Once the car moved off from stop with no pressure on the brake pedal all was well and since the brakes have been fine.  This has occured now several times whereby after the grinding/ rubbing issue the brakes resume normal operation.   So the question is ...could this be related to the previously failed ABS G201 faulty unit?  All pads and discs inspect fine with no obvious noise when jacked and rotated.  I'm at a loss so any thoughts/ advice will be appreciated.

Edited 25 March, 20188 yr by xaviHB