ABS + SES + Brake lights, Speedo, autocruise - sticking problem

[aregion]

My Armada'06 problem is this:1) On instrument panel, ABS, Brake, SES light stays on2) Speedo not working3) autocruise not working4) Car sometimes accelerates (refuse to accelerate) in jerky movement when accelerator depressed more then 20%. this symptom usually appears only intermittently and usuall after 5 mins of driving and lasts for like 2mins and then symptom disappears for that drive session.5) The VDC switch does not work (no VDC light comes on even when switched).. but this was always the case before the above problems came to light

i;ve spent at different workshops with all sorts of diagnosis from wheel speed sensor to vehicle speed sensor (all serviced and replaced) to ABS actuator (also replaced) to no avail.

Now another workshop who supposedly has the right kit to diagnose has this to say and wants to charge 20hrs of time to resolve it:

1) Yaw rate sensor2) Steering angle sensor 3) and general wiring issues

Can the experts out there tell me if this sounds right?

[aregion]

if it helps , i have the following error codes retrieved:

0500 - vehicle speed sensor or circuit fault1001 - CAN communication circuit1574 - ASCD vehicle speed sensor1212 - ABS/TCS communication line (ECM cannot receive info from ABS control unit)