If you have access to a breakers yard or salvage agent and can try a second hand axle this is probably the easiest way to go but is still not guarantee of a fix. Otherwise I'd be tempted to strip the diff and get it rebuilt.
In some cars you must mount the driveshafts and axles in a certain way and at a certain rotation, it might be something as simple as this. I think you really need to hope a Freelander expert finds this thread and passes on his experience, I know very little about the TCS in the freelander so I'm guessing here.
I'm not sure what electronics there are in Freelanders and it could be something as simple as a bad contact somewhere - are there any wires coming out of the rear axle or rear hubs?