I would take back to honda for recall and while there reset the vsa using neutralization procedure before replacing vsa unit. And if the worst does happen you can get unit repaired by
http://www.ecutesting.com/ or buy a secondhand unit. The dealers always seem to replace the vs a module but fail to solve the problems, that code could be stored from before so before parting with £2000.
1 would wash all abs sensors using jet wash with wheels removed.
2 refurb calipers you can buy kits from
http://brakeparts.co.uk/ replace all 4.
3 remove and clean brake and clutch pedal switches.
Remeber the vs a module is a bit of nuisance to diagnose as it receives signals from the wheel sensors, so any binding will confuse the unit. If the brake or clutch pedal switches are sending wrong signal that will also confuse vsa so I would start there before purchasing a vsa module unit or getting one repaired.
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