There are bits on the Freelander that Land Rover have got wrong and should have compassion to the customer on - some they shown that compassion (maybe needing a bit of persuasion) - such as replacing diffs on the F2, others they have conveniently ignored (in my opinion) such as VCU/IRD issues. However, a fault in a 12 year old ABS system, I don't see how that could be LRs responsibility.
The ABS system is that a system - if all the bits work then you have ABS. Something here is broke so its popping up a code - if you clear the code - it will come back. The fault needs to be identified and fixed. In my case the code came back as a modulator. I cleared the code and it came back. So I changed the modulator and everything has been fine since. Your's looks like its more difficult to identify - but there is something in there that's broken. If the codes are coming up as sensors (which is why I suggested you show us what the codes are), then I doubt it will be other issues like the brake switch, but will be either the sensors, the ECU checking the sensors, the inducer rings or the wiring.
I don't know if sensors on the front & back are the same, but it looks like all your codes have been on the front wheels. If they're the same, have you tried swapping the rear sensors for the front and see if the codes move to the back or stay at the front? It will tell you if its the sensors themselves or kit related to the sensors.