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Scanning the vehicle for error codes is alright. You need to remember that the ABS/DSC module will trick you if the internal bonding wires in the module are intermittant. The bonding wires connect the semiconductor substrate to the pins in the module housing. When a bonding wire opens or comes loose, the module will not see the speed sensor. If it doesn't see the sensor, it will call the speed sensor "faulty", when in reality, the sensor is just fine.
When the ABS/DSC module fails, bonding wires are almost always the culprit. This is what the module rebuilders fix.
Just keep this in mind when replacing anything related too, or around this module. (sensors and such)
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