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Rather than just the bearing, I suggest a new half shaft as the bearings and ABS tone wheel are already assembled. These Escapes are notorious for cracking the tone wheel setting off a code and then disabling the AWD system. So for a very few dollars more than it would take to disassemble the shaft , install bearings and tone wheel just get a new one.
There is no adjustment, The hub assembly is a bolt in assembly with presealed permanent bearings. I looked up the part to verify & it appears it even comes with the sensor when replaced as an assembly.
I recently replaced similar ones on a FWD SUV & didn't even remove the Ball Joint or the Tie rod ends, or the Axle. I removed the axle nut, pressed in the axle enough to make sure it wasn't stuck,(silicone lubricant) removed the brakes & caliper & rotor then removed the bolts holding on the hub assembly & using a slide axle puller, gently & gradually tapped this out. then just reassemble. I spent no more than 2 1/2 hours replacing both front hubs & I'm not that young anymore. No excessive pressure to harm the ball joint, just tapping. I did have to remove the speed sensor from the back side.
Take the wheel off. If you don't have an impact gun you'll need at least a long breaker bar to remove the axle nut in the center. It will be quite large. Once you have that loosened off, you can take the brake caliper assembly off and hang it off to the side as not to put strain on the brake hose. DO NOT open the brake system up, no need for that. Remove the rotor, you can now see the whole hub from the front. The bolt (3 or 4) will either be in from the front or the rear of the knuckle assembly. If they are from the front the hub will have one hole in it that is larger then the others. That is for a socket to fit through. Then when you have those out, I'm sure that the hub will have seated itself in nicely with rust. You might have to get a bit forceful with a hammer and cold chisel to remove it. Good Luck!
I own the 2002 Buick Rendezvous CX and I've encountered the same problems listed here. The ABS / Traction Control Lamp stays on and was throwing a code for the left wheel speed sensor as well as an anti-lock brake code (both in the wheel bearing hub assembly). I replaced the left and right front wheel hub assembly yet this did not eliminate the abs codes.
Ultimately, I traced this problem to a break in the wire that leads to the left hub assembly. Although the sensor was properly connected, the wire (which is encased in a plastic housing) was broken. This is the wiring which leads from the abs wiring harness under the hood down to the left wheel abs sensor.
I would suggest that you simply remove the left wheel and inspect the wire that leads to the abs sensor (there is only one wire on each wheel). Mine literally fell apart when I removed the plastic housing around the wire. I spliced the wire together and put it back in the plastic housing. After this, my abs codes disappeared and my anti-lock brakes began working again!
This is a simple fix that many people spend $1000 + on by replacing the hub assembly which does not fix the problem.