Good day my advancetrac warning is on and my abs and traction control are disabled because of the code, my scan tool shows steering angle 1 can move from low to high while moving the wheel but steering angle 2 is always hi voltage. My abs trac control lights are on all the time with no abs and winter is coming and I fear my SUV is unsafe, is it my sensor that's fried or wiring? pics attached thank you I have seen 2x mechanics with scan tools it took a diagnostic tool I bought to identify the errors myself this is my last chance for a fix go easy on me please.

2004 Expedition EB 5.4 2v, 4x4, Check Advance trac error 250,000km's, drives awesome no issues besides this.