My 07 had some random abs esp lights popping on ( my steering wheel is straight) I changed my front brakes and at the same time replaced my passenger abs sensor thinking it was either the front left/right and the dealer only had one in stock. Now the lights will not go away on the dash, I have pulled the negative wire off the battery and checked if and codes were readable at my local oriellys but nothing. If anyone has any ideas short of dealing with the dealership ( still waiting on them to fix my clock spring)

 

I had issues with the abs/ESP/bas lights. Went to Advanced Auto parts and they read the codes ( no charge), came up as intermittent right front wheel speed sensor, Take a ride and have the read your codes.