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CLIO ABS SENSORS

Car  RENAULT CLIO
Hi, I am having problems with the ABS on my Clio. It is juddering when I press the break pedal. I have also noticed that when I reverse and I take the car out of gear (free wheel), there is a rasping sound coming from the engine compartment. This decreases as the speed of the car reduces. If I remove one of the sensors then the sound goes away. I have inspected the cogs that the sensor sits just above and the drivers side one looks to have corroded more than the other. I have heard you can get shims for the sensors but I imagine these are only if the gap is too small as opposed to, too large. How difficult and expensive is it to replace these cogs? Would the car fail MOT if I were to disarm the ABS?
 
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