I read the codes with the IID whilst the adaptive error was on the dashboard, the errors were "rear right height sensor", C1A 06-14 and C1A 06-21, the error happened occasionally when driving but always when I changed the ride height to go off-road, checked the wiring but didn't find any problems there. Disconnecting the plug is not easy, I don't know which idot thought that that was the only solution but he or she wants removing from any design committee.
Fitted a new sensor, FF now goes up and down without any errors, I guess the adaptive bit in the sensor was U/S.
Couldn't have done it without the knowledge of the FFRR forum to point me in the right direction and the IID is a must.