HDC fault

My l320 (2007 2.7) is throwing up a strange problem, when I pull away it starts to apply the brakes, happens more when turning out of the drive. It feels like it's in Hdc mode, if I stop then pull away again it clears, although it takes a few attempts sometimes. I then get lowered suspension, Hdc fault. On my basic code reader it says lost communication from dynamic control module, transfer case module and ride level control module. I was thinking along the lines of a faulty abs sensor causing the braking problem but no abs fault is showing on the reader. Has anyone had similar problems
Cheers

I'd check the steering wheel position sensor. Have you done any work on the steering wheel recently?

I brought the rr as a project it had a faulty clock spring and so I replaced it. It went to the garage today to get wheel alignment and angle sensor calibrated. Will post the results to help others