Could also be the ABS module itself. I would verify your signals with actually spinning the wheel with the car jacked up. See what the ABS module is reporting.

You could also try switching the sensor from left to right and so on to determine if the issue follows the sensor.

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2003 BMW X5 3.0i -- MT5, 3.64s final gears, H&R lowering springs, K-Mac bushing kit
2007 BMW X3 3.0Si -- MT6