Hello,
It "could" be a sensor, I had a very similar fault on my golf and it was a sensor. To diagnose I fortunatley had propper diagnostics, but I also learned a trick doing some research.
On each sensor, disconnect it and measure the resistance with a multi meter, you should get a resistance as opposed to either fully open or dead short. You need to compare the results with matched sensors (e.g. both front, both back) as they may be different front and rear. Although my diags set showed me the faulty sensor, I check the resistances wiht a meter and low and behold it worked as I have described.
Give the ABS ring etc a good clean while you are doing this and check the wires on the sensor for chaffing/crud.
If thats no good then you can check the fit of any loom plugs on any ABS related wiring you can see and even give it a clean if its cruddy (oil contamination etc). After that then id suggest a trip to a dealer/specialist for a diagnostic check. If the main ABS is fault, look online as there are some good places that specalise in refurbs (My father had a very good experiance with one for a Citreon he had.)
Good luck