This just happened on my 2006 Ford Explorer 4.0 4x4. My abs, traction control, and wrench lights came on. I stopped but when I tried to drive the 4x4 light came on and the brakes were engaged by themselves. The only code my car was throwing was C1233…left front wheel speed sensor imput signal missing. I changed the abs sensor and it didn't fix it. It ended up being the hub.