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Make sure the brake fluid reservoir is full and the terminal on the side of the reservoir is plugged in. The terminals may need to be cleaned to ensure good contact. Disconnect the battery to reset the computer.
If that does not do it a further inspection of the speed sensors and tone rings are in order. check all three sensors located in the left and right front hubs "the back of"
the third is located on the top of the rear diff, check for whear and damage but more important is foreign debris. look through the mounting hole as you spin the tires you will be able to see the Tone rings. check them for damage. if all is well then its time to have a shop do a detailed sensor scan, good luck!
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