Happy to hear you finally got it sorted out. Now I have to tackle the same issue that I have on one of my SRT8s. No trouble code found but the ESP / BAS / ABS lights are on. It was an intermittent problem earlier but now seems to be a permanent problem. Guess the easiest fix will be to just have all four wheel speed sensors replaced. Pretty amazing that one can't rely on the trouble code to be accurate indication of the problem . . .