Generation 5 Haldex pump worn out comms and brushes causes juddering or 16671 learn blows fuses

#haldex

[@theone9564]

Hello I have a 2015, and I get a message 2wheel reduction. Any ideas

[@magee26]

Is this repairable? I have this exact issue.
If I clear the gap between the comms? Are you able to install new brushes?
Many thanks