Hi.
Periodcally get an ABS/Antispin warning in the display. I get the following error-code details:
ABS-0109 Communication between control modules. Steering wheel modules (SWM), internal fault.
SAS-000E Steering Wheel Angle Sensor. Internal fault.
ABS-0140 Pedal pressure sensor. Signal outside its permitted range.
Not sure if all are related. Warnings can be gone for long periods and then return, without any (to me) obious cause.

Any suggestions for troubleshooting or estimates on cost to repair? DIY or needs programming-tools?
XC70 2007 D5 AWD Aut. 185 HP.

 

I'd start by cleaning and reseating the connectors to the ABS controller and perhaps the TCU.