I know this is an old tread but it's the first one that came up in my search so thought I add my two bobs hear. First is always the KISS principle, before going to the dealers, mechanics. If your fault came on after a bump, mud run, or some time after drowning or is intermittent, there is a high probability it is your wiring connectors to your wheel sensors. The wiring plastic connectors metal spade contact area can become corroded insulating the electrical signal. I don't want to bore you to much but some connection are made of metals that are corrosive resistant but cost more so no more said, this has been a fault with tritons in the past, one being the recall for tail lights failing. So bofore you do anything I would just follow the wiring harness from your wheel sensor to the connector/s ether wiggle them in and out to break the corrosion layer, however fault may come back or better to unclip them clean them with electrical contact cleaner dry and reconnect. Check for any damage as well of course while your there from any stray branches, rocks, fence post, wire, animals, mud, ...... make sure you drive you Triton after to clear ECU. May save you the worry, time or unnecessary costs. One last thing on your front wheels make sure the thing that looks like a gear wheel next to your break cover is clean.