Thanks to the awesome people on this forum I was able to figure out the onboard DTC. The local parts store wasn't able to read it. I had the ABS ESP BAS and trac skids lights on first popped up random a couple of times, now they are on all the time.

I was able to pull this :U1417 ‐ IMPLAUSIBLE LEFT WHEEL DISTANCE SIGNAL RECEIVED

Anyone know what it means? I thought it would be a wheel sensor but they are a different code.