Q: ABS comes on under 3 mph and when starting out

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I have replaced all 4 speed sensors both rear hubs , right front axle, ABS controller, Modulator pump, No codes come up ,front bearings are good . I have been reading about the Yaw sensor and the throttle position sensor and see that they are part of the system .. The idle and speed increase are smooth. My scanner does not pick up anymore codes now ,they are all cleared with doing the work so far But this problem does not go away . Any idea what else could cause this ,I cannot find this problem on the net anywhere .

My car has 160000 miles.
My car has an automatic transmission.

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