2001 V70XC P1550 code, ABS & STC light on

[sdshawver]

OK, I just replaced the control arms due to it being far less expensive than replacing the bushings. New shocks, spring seats and strut mounts required an alignment. Ok, but the moment I drove it away I got an ABS and STC light on. Drove it to get new tires (had to because they were that worn from bad bushings). After tires, the lights turned themselves off. Drove it home. Drove it later that day to get kids and then I get the P1550 MIL lit, ABS and STC all going. BUT! just before they came on, I could feel the pedal shuddering like I was on ice ( on the coast in Texas, ice isn't happening). Cleared the codes and drove fine. Odd that I get the shuddering and then lights. Then the shuddering goes away. Wondering if I have a failed wheel sensor? I looked at the prices for new wheel sensors and each one is different part #. This comes and goes and does tend to correct itself in lights. Is there a way of checking for which one if it is just a wheel sensor? Or a test to see if I have to have the ABS Module rebuilt? Because now I have to get an inspection and while the ABS light doesn't fail the test, the MIL does! Suggestions? Got to start driving it more (other car is a 4.6 Expedition and I don't own oil stock). Thanks