ilyes Les

Hi everyone..
my car is a4 b5 2001, when on road and exceeding approximately 2000 rpm, esp and abs lights come on and stay on.
stopping the vehicle, ignition off. then ignition on, inst-cluster shows "OK"... engine on and running... esp and abs lights back again when over 2000 rpm

Got this fault code when scanning the vehicle...
Address 03: ABS Brakes Labels: 8D0-907-389.LBL
Controller: 8D0 907 389 D
Component: ABS/ESP front D56
Coding: 04255
Shop #: WSC 00000
VCID: 341B9FD31723
2 Faults Found:
01435 - Brake Pressure Sensor 1 (G201)
27-10 - Implausible Signal - Intermittent
18265 - Load Signal: Error Message from ECU
P1857 - 35-10 - - - Intermittent

I did the measuring of the brake pressure with vcds, it measures pressure up to >100 bar when pedal is fully pressed, and it gives -0.33 bar when depressed... is sensor good?

I also checked the pedal switch with vcds measuring block ... the switch seems ok, i mean it shows 000 when, and then 111 when pressed.

when i don't exceed that fxxx 2000 rpm, abs is activated and fully functional.

Any thoughts ?