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Yes it sounds like your ABS sensor is bad and the sensor is located behind the hub assembley connected to the hub Remove it and get a new one or just deal with it. It will not hurt anything, you just will not have Anti lock brakes.

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Q: I have a 2004 Pontiac Grand Prix and when I am at slow speeds with the wheel cut either right or left the abs and trac lights come on Is this an abs sensor Is it connected to the wheel bearing?
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