Abs issue

Hello All,

I had my BS and Traction light come on and it scanned a passenger speed sensor. I replaced the sensor as well as the Hub and drive axel. I reset the lights by removing the battery. I drove for roughly 40 miles and the light came back on as well as the traction control grabbing the front tire. I also noticed when I put it in 4wd it has a grinding. I have only tested that at low speeds. Any help would be great. I plan on taking it apart again next week.