Trifecta: I've attched test report

[Emspilot]

Hoping someone can help. I've got the dreaded trifecta. All three yellow.
I've cured this once with a right rear speed sensor. 6 months later its back.

However, this time speedo is WORKING. Cruise control WORKING. All mileage and fuel avg. and the trifecta is intermittent. Sometimes its on as soon as I start. Sometimes not until a few miles. Sometimes it will go all day with no lights, but never longer than that.

What I've done. ( I know throwing money and parts at the problem is stupid and costly way to repair an issue, but I thought I had a good bead on the problem. This X5 excels in stumping me at every turn. ):
Pulled ABS mod and sent for rebuild: comes back NOT defective.
New speed sensors right side.

Still no change in trifecta. I had a limited time to address this problem ( 7 days ) then it was off to work again, 500 miles RT. I figured no way both speed sensors were bad at the same time and figured ABS was the culprit. Since that was not the case I replaced the speed sensors one at a time with no results.

Occasionally when driving, when the lights(trifecta) are off, and I go to brake the ABS pulses ( you feel it in the pedal quite a bit ) and the lights come on. After that it drives normally with lights on.

Report is indicating CAN wheel speed and interference in EGS signals. I can find little info CAN wheels speeds to tell me what the/a CAN is. I've checked EGS connections and all "look" fine.

Power supply codes were from a dead and replaced battery and are about a year old. CAN communication code is older as well. Most likely from the 1st speed sensor issue.

Could it be the actual ABS pump? If so wouldn't one of the lights go red, Brake I think? I am at a loss

That's most of the info I can think of. Sorry so long winded. Just figured the more info the better. In case its not listed: It's a 2001 X5 3.0i

Thanks in advance.