I had some problems with the ABS sensors, right front had rubbed against fitting and shorted out wires. Repaired and was good for over a year.

Now the lights indicated in title are on after driving for about 15 minutes.
When you start it up its fine, then lights come on and the speedometer goes off. Car seems to run fine otherwise.

Is it Speed angle sensor?? where is it??

I'll try cleaning/inspecting left rear ABS sensor. Is that the same sensor for speed??

I'm not buying an ABS or DSC module! I have 218,000 miles on this 2001, 3.0L, owned it since new.