Easy fix works
I have done this repair today, same issue and at 59000 miles. The car lost its stability control, abs and 4 wheel drive, with 280 bhp our car is dangerous to drive without the electronics with the roads as they are.
Found this thread and thought I would have a go, and can report that the fix works fine. Have tested the car and given it a good thrashing on slimy roads today and it's as it should be as is my bank balance! So thank you for the fix, I have my own garage so this was easy for us to try, you need to support the gearbox and undo the gearbox mount bracket, not take it off just so it drops down to get access, then 4 bolts to drop the actuator out, undo the motor from the housing so as to release the worm drive from the worn cog, then turn the white cog half a turn, put the motor back home and refit assembled to the car. Job done and in less than 1hour, thanks again.