abs/esp and epb malfunction

[darkomega]

hi all first post but been a member for a while. ive a 2.7 quattro avant and just recently the abs and esp lights are permantly on and when you drive off they is a beep and the epb malfuc=nction light flashes. a friend put a code reader on and pulled the following codes. steering angle sensor g85,front right speed sensor g45 and lower limit dtc memory abs controller. when he tried to clear the last fault cleared but first 2 remained . any help would be great thanks