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You can try a quick check of the wheel sensors. Assuming you have 4-wheel ABS, then there is a sensor on the rear diff (on top) and one on each front wheel. Unplug them and do a simple resistance check with an ohm meter. If you see zero or open circuit (infintie) then that sensor is bad. Replace it. I believe these sensors show like 5-10 ohms if they are good (there is a little resistance, but not a lot). I know the rear is like that.
But if you can get the codes read for free, then do that first. If it is going to cost you $100 to do it, then do the ohm check first. If they check out OK, then you need to get codes read and probably have more serious work and expense ahead of you.
I suppose there are some other obvious things you could check like if everything is connected, and if the connections look good. That stuff should be obvious for the most part.
you might also take the sensor out of the wheel and look at it. I had one one time that was bent. I assume something got in there and it was too far away to read the wheel spin.
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