Get the car battery checked first. An old battery can give lots of false sensor warnings.
If that's ok then the next thing I'd look at are the ABS sensors on the rears. Over time dirt and crud accumulates behind them and pushes them away from the hub.
Finally, another possible fault could be the steering angle sensor.
Luckily, all cheap and easy fixes. But you need to get a Planet diagnostic rather than one done with a generic reader, as only Planet will give accurate live data and is able to test parts.
Google "Planet owners map" if you want an independent fellow Pug owner to give it the once over.
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