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Attached are some signals from all 4 wheel speed sensors.
Do these look normal or should I replace them all?
Here I was simply driving from standstill to about 30mph
they were designed to fail around the 9 year mark - first symptom is the park brake being "strange", up to 6 months later the ESP light comes on in the instrument cluster
You might consider a remove and clean exercise on the sensors that attach to the wheel hub. I replaced both my front sensors when my light come on. Look for posts from Easy Phil on this board for his take on cleaning. Perhaps a dirty sensor is causing flat lines on your scan.