Hi Joe. I have a 05 laguna III so I am thinking it should be close. (?!?) Any way the manual indicates a Eaton ABS/ATC. After much consternation I discovered it was a Bendix unit. (completely different error codes). It was located on the back wall of the first storage compartment second bay door from front (not aquahot compartment) on the passengers side. If Bendix, they have or did have an excellent telephone support and video's (I think youtube.) as well as documentation. I did have a sensor problem and with Bendix, the overwhelming cause is the sensors walking out according to them. They had me go under and told me where to push and it resolved the problem.
Also what kind of shifting problems are you having? I am having a little of my own.