Originally Posted by 1slow370

check the rear half shaft c-clips they can break and on occasion while turning or accelerating the half shaft can walk out past the abs ring, I don't believe it can come completely out though so not too much of a worry but it should be fixed. the c-clips are like $0.80 at nissan but changing them is not too fun(not the worst but not easy)

consult3 should be able to tell you which wheel sensor saw the error