I have an 2007 xr awd. 108xxx. The vehicle hops when you turn like it's stuck half way in awd. It also acts like I'm sliding on ice. I can't remember the codes but it was right rear wheel sensor and another code for wheel speed frequency error. I changed the rear sensor and still no good results. I cleared the codes before I changed the sensor but after I put the new sensor in, I can not clear the light for the life of me. It's to the point I have to pull the abs fuse just to drive it. Any input is appreciated.