ABS / DSC warning / Failsafe Mode

[kevsterusa]

I have a 2003 X5is with 115,000 miles. Great overall vehicle! Recently I have been getting the dreaded ABS / DSC warning lights coming on after about a good half hour of driving. I notice when I apply the breaks and keep pressure on them that the car will come to almost a complete stop...lunge forward slightly...then stop. If I continue to drive, the car will eventually kick into Transmission Failsafe Mode. I have had the codes read and the only thing that pops up is right front wheel speed sensor. Would this be enough to cause all of these issues, or am I looking at a bigger problem?? Alternator and battery have been replaced within the last month, and my tech said the wheel speed sensor was very dirty and cleaned it, but the problem happened again yesterday. Problem normally occurs on warmer days, and the codes always clear themselves after sitting overnight. Tranny seems to shift fine. Any ideas???