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After a day on the trail my abs/esp is turning on only when the wheel is turned to the left from center. Trying to figure out what it is before I take it to the dealer.
 

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Sounds like a wheel speed sensor wire on its way out. Its the cable from your wheel bearing to the frame. (68003281AD $25) I would start with the left one and look for any damage or kinking. Swap it out with a known good one and see if it goes away.
 
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