The simplest way to determine which wheel sensor is bad is to check for trouble codes by connecting a scan tool capable of accessing the ABS system diagnostics to the cars diagnostic port. Most auto parts stores will scan for codes for free, but I'm not sure if they use a scanner sophisticated enough to display ABS fault info. Use this link for more information: Wheel Speed Sensors Testing.
It may be something as simple as a broken wire.
Check the cable from the harness to the connection on the back of the hub.
I've fixed 4 cars that had "Service vehicle soon" "ABS " and"Traction" lights on by simply repairing the cable.
And yes the light goes off once repaired
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