Citroen C6 ABS and Lateral Acceleration Sensor Issue

Yep, had the exact same thing with my C6! The yaw rate sensor was borked. Did you check wheel alignment? Sometimes that throws things off.

Wheel alignment is spot on, I checked. Was it definitely the same sensor and symptoms? And what exactly was the fix?

100% same symptoms! ABS light, error codes... dreaded stuff. Ultimately it was the lateral sensor itself, buried in the electronic control unit. Time to bite the bullet and visit a workshop.

Thanks! Workshop confirmed it's the lateral acceleration sensor. Repair will be around 1000€. At least I know what it is now.