ABS lights coming on and ABS disabling intermittently, BUT usually after hitting a pothole. I could provoke this by rear-braking over a rough surface.
The big clue was that the rear brake had an odd feel during initial application, like it was centering itself before pads making contact with disc.
Rear wheel bearings haven't been changed in 70,000kms so I was pretty sure this was the culprit.
I removed the exhaust and swing arm to have a look, then found that the wheelnut was actually loose, which explained why the sensor was able to touch the disc and trigger an ABS fault.
The solution to this problem may have simply been to tighten the wheel nut, but having dismantled so much already, I went ahead and replaced the wheel bearings as they must have been due anyway.
I can never tell if wheel bearings are worn out, but the bike rolls a lot easier now that they have been replaced.
Possibly I had re-used the old wheel nut in the past, can't remember, but that may also be something to look at if any of you get these symptoms of a more "mechanical" ABS brake problem.
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