L322 Suspension Problems

My wife's car is a 2003 L322 Range Rover
Recently, it has developed suspension issues.
It raises and lowers as expected, but the ride hight is just wrong the rear is up in the air like off road height.
It comes up with an Articulation fault, then deactivates the suspensions but does not trigger the max speed 35mph warning.
When I look at the faults on my Autel ( I know they are not great but its useful)
Front left is positive in mm, as is rear right, these two height sensors have been replaced, not by me but previous owner plastic link arms.
Front right and rear left are original and read negative in mm
What do you recommend to fix this issue.
thanks
David

Now then David, unfortunately a more dedicated software may be needed to reset the heights and possibly see if you have a defective sensor buddy. There are some good '322 guru's on here who can point you in the right direction as to what software you'll need. Good luck

I think the early height sensors were the same, but when installed on opposing corners read in negative and the other two in positive.....as the direction of rotation is reversed - if that makes sense....but I am not 100% on that.

It would be best to carry out a recalibration of the system as a first step - especially if the sensors have been changed....

Once you know the calibration is correct you can move onward.

Articulation validity fault means the ECU thinks the suspension has gone to an attitude it believes is not correct and thinks the sensors have gone south.....hence why it thinks the articulation it is receiving is not valid.

Thanks All,
I had a look at it yesterday, all the sensors are fitted correctly, I was hoping to find a broken link arm or something.
If I unplug them I get an individual sensor fault, I also took them off and moved the arms and the reading changed.
It is like the rear is just not exhausting enough.
I have the work shop manual, but they are a bit vague on details.
I am also not sure how cleaver the system is, for example will it try to maintain a level height across the vehicle, because one of the sensors is out of spec?
It wasn't like this when we bought it, so that suggest to me something has failed.
Is it just a calibration issue? and it has lost its, but to be honest I have not know of EEPROMs to just erase themselves.
Wouldn't it be nice to look at the code in these boxes.
Once again thanks for your help.