Diagnosing Trifecta

[CapeX5]

Just a few days ago my "trifecta" came on. All yellow lights, so know it isn't a brake system issue. It did go off a couple of times, but is back on now steady. I did the steering wheel turn from lock to lock to make sure it wasn't the angle sensor. I pulled out my Creator 310 and monitored all 4 wheel speed sensors and I am getting readings at all wheels. I did get the module repaired 1.5 years ago and the system has been perfect. I know there is a tutorial on using a DVM on the wheel speed sensors, but since I am getting out put and it is showing up on my scanner, pretty sure I don't need to do that. May take all wheels off and check connectors as a preventative. And of course I am due for my yearly state inspection-this happens to all of my BMW's. Every freaking time for inspection, something pops up right before they are due!! Any help would be appreciated. Truck is an 01 with 4.4.