Persistent ABS/ESP light with C1015 code

2007 JK. Trying to diagnose my ASB/ESP lights being on. The error code is C1015, right front wheel sensor. I have tried:
1. Checked the ABS fuses; all good.
2. I replaced the right front wheel sensor.
3. A shop replaced the right front wheel sensor.
4. I tried reading the voltage from the right front wheel as it was spinning by hand, but couldn't see any. I was told by some users here that the sensor doesn't produce a voltage.
5. I replaced the right front hub assembly (came with a new sensor, and contains the tone ring).
6. Several different people tried to reset the ABS code with a code reader, but could not. I have heard that ABS is checked every time the ignition is turned on.
7. When at the shop for diagnosis, I asked if they ran diagnosis on the ABS computer and they said no, because they could request error codes and it returned error codes. I would think there would be a way to run diagnostics on the ABS module, but I don't know.

Any ideas?

 

I hear that some programmers turn this off so you don't have to deal with it anymore.

 

Is there a way to run diagnostics on the ASB computer?