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My 2.0RT Estate (1998, 113k miles) has the same problems. Its been in a garage all week and has had the rear left ABS sensor replaced - no change and the lights stay on.
They then 'found' the main cable from the ABS unit was defective, so has been replaced with a genuine Renault part - again - no change. They took it today to a Renault dealer, checked the ABS unit on their computer and the unit appears fine.
The current thought is that there is a spurious earth fault somewhere on the car.
Not helpful to the original post, but once I get the car back I'll post the solution (if known).
Currently in tzr_andy's garage:
1998 2.0RT Estate