So my abs/brake lights have been on for some time now. I replaced the vss in the rear diff and they turned off for a short time. Then came back on and my abs turns intermittently when braking. Then last night my speedo started bouncing around and it wouldn't go into overdrive. So I pulled the sensor out again and it was covered in sludge and metal shavings. So I popped a new one in and the speedo/overdrive problem has seemed to go away, but the lights are still on on the dash and the abs still kicks on randomly. Pulled code p1502 for speed sensor. Truck is a 2003 hemi 2wd.

 

Also the cruise control doesn't work

 

Left wheel bearing.