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How to determine which wheel speed sensor is bad?

How do I tell which wheel speed sensor is bad? I'm getting a few codes - esp_w002 and some others. Cruise, abs, traction control and regen braking are all disabled.

Suspecting it's the front passenger side as I was just in there to replace a tie rod. I want to make sure before just throwing parts on it at random. Is there a way to tell?

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