There is a wheel speed sensor plugged into the back of each hub. These are easy to remove and clean, although sometimes it is the reluctor ring that has corroded inside the hub.
The yaw sensor is located under the carpet, square under the driver’s seat. Sometimes these end up sitting in a pool of water and terminals corrode. It’s a seat-out job to to have a look at it and a new one is expensive.
What diagnostic system are you using?