Need help solving ABS/TRAC problems once and for all

I had this problem for a year. ZPC didn't help, gas cap seal didn't help (which it wouldn't since there was no CEL illuminated with the other lights). I went under the truck and found the sensor wires running into all of the hubs and pushed them outwards to make sure they were into the hub all the way so they would read properly. One of them seemed to have a little play in the back. About 4 days and 1000 miles into a roadtrip later they eventually disappeared without a zero point calibration and haven't come back since. Make sure those wires didn't get pulled, they probably did a bit...it's easy to do when working in there.
 
7 YRS after, ever got to resolve the issue?. i have similar codes pop up on my truck.

will repost this here, one can consider to permanently disable the VSC stuff...

one can disable the trac control and nanny switches by unplugging the steering angle sensor in the steering column.

did this on a tundra as i could not stand 3 button presses to get the thing to drive like a normal truck on dirt roads. all of three traction lights came on for something like 10-20k miles. but now only one remains, i.e. the slippery when wet one. been 8+ years ago and ~100k miles, with many not on paved roads.

just did this to the 4runner. the 3 trac lights are on like it is xmas. TBD if they turn off like the tundra.

disclaimer, one does lose the trac control, VSC is permanently off so no more dead pedal. this only impacts me when the caddy corner front and rear tires are not touching ground which is a rare occurrence that i can often avoid. all other stuff works normal, i.e. 4wd hi/lo, differential lock.
 

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