Freelander 2 (LR2) Jerking, ABS warning light

Recently had all warning lights reset. I was driving the other day when car made slight jerks/jolts when accelerating or driving steady. Almost like a slight loss of power or as if brakes had been applied (not extremely)... ABS sensor light appears, and triangle light with exclamation mark in centre.

Other posts have said 'Faulty Crankshaft sensor' or 'faulty fuel pump' but none of them have said that an ABS light appears with it ? Could it be related to this. I have turned the DSC button off and it mitigates problem temporarily I think.

Hi Jakbax.
Have a read of this and do not discount it.
Freelander 2 (LR2) - 2007 Rear Diff Issue...Nasty | LandyZone - Land Rover Forum

jakbax said:

Recently had all warning lights reset.

Click to expand...

What were the codes? Having stuff reset isn't the correct thing to do, as you loose any record of an impending issue.

Is the rear diff noisy?
Maybe it's about to seize, which can happen.