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Assuming that you're talking about the front wheel speed sensors... Your best bet is to replace both from wheel hub/bearing assemblies.
They'll cost about $100-$150 each. When the wheel speed sensors are setting ABS codes it usually means that the bearings are bad. When you replace the whole hub assembly, a new sensor is already installed in that hub. If it just the sensor (unlikely that just the front sensors alone are going bad) the sensor itself is usually 3/4 of the price of a new hub anyway.
probably a door ajar switch going out they are built into the loor latches. really need a scanner to see wich one acting up. try unlocking the lift gate or passenger door with the key and see if it will disarm the system.