I've had the same problem recently with mine, and with Pitcaigs help I thought I had it sussed but I'm still left with an irritating fault.
The same fault code came up (n/r sensor) but there were other issues coming up - one of which was low battery voltage. I knew the battery was poor so changed it and some of the other faults went away, leaving the n/r sensor message.
I unplugged it and connected a known good sensor and two of the 3 amigo's went out leaving the abs light on. So I checked the hub and it seemed to be ok so ordered a new sensor and fitted it without the o ring so it sat lower in the hub. I put silicon around the neck of the hole to prevent dirt ingress.
Initially the abs light wouldn't go out until the car had been driven a distance (similar to the D1), but after that everything was ok for a few days. Then after the car had been parked for a couple of days, the 3 lights wouldn't go out or would go out and come on unexpectedly on the road but without the 3 chimes that indoicate a major fault.
I'm not sure what this all means, but it looks like I'll need to try and get the codes read again to see it there's something else triggering this off. If it's the same fault, then it looks like I might need to replace the hub. Maybe that's why a lot of peole go for the hub right away rather than changing sensors.
Duncan