My Daughters 2004 Lexus RX330 AT AWD stopped at a stop sign and will only idle. I believe this to be "Limp Home Mode". When checking the Trouble Codes I received three OBD-II codes:

• PO500 Vehicle Speed Sensor
• PO717 Input Turbine Speed Sensor "A" no Signal
• PO793 Intermediate Shaft Speed Sensor "A" Circuit No Signal

Also (3) ABS Codes

• C0210 Rear Speed Sensor RH Circuit
• Co215 Rear Speed Sensor LH Circuit
• C1223 ABS Control System Malfunction

I replaced both the transmission sensors (Blue one & Black one) Input/Output speed sensors - NO HELP
We removed the rear brake ABS sensors and cleaned them - NO HELP.
We cleaned the Throttle Body with TB Cleaner and throttle gate valve manually works perfectly - NO HELP - Only runs at idle

What I have read regards the PO500 error is that it possibly effects the ABS System the Transmission and can only run in "Limp Mode"
I'm concerned it might be the ECU but don't know how to test for that or eliminate that as a problem.
One of the tutorials shows replacement of a VSS Sensor/Sender with a gear at the bottom. Can't find in parts manual and not sure the 2004 RX has that.

What else is there - Throttle position sensor, throttle motor, ABS control System. Input please I would appreciate any similar experience and troubleshooting ideas or help.

Terry