Have a abs issue with my 02 highlander.

current codes are p0136, c1201

the vsc light comes on. when i accelerate the trac control light blinks and from wheels lock up. When i press down to make a stop at low speeds, the pedal pulses and i hear a noise from the abs system.

i took out the abs relay and drove it - it runs fine . do i need to replace the abs ecu or the abs unit?

 

Some had posted that cleaning the wheel sensors remedied their similar issues. Do a google search and see what you find.