I read a code of P0500 I think you are on the correct track. This is an AWD car with ABS do they still have a VSS of Transmission speed sensor. Also where are the located ?? Seems to be very little information out there on it or my searching is bad.
I had the brake light and ABS light on for about 2 yrs now. but this was not an issue until I changed now. This issue happened right after I put in the new CV axle on driver side. Notice right away no speedo no odometer reading and then got up to when got up to speed O/D not engaging. I bought a new VSS of ebay it has a gear on it but can NOT find where it plugs in. I am thinking even though it was listed as for AWD and FWD this is wrong. I bet it is a transmission speed sensor or other sensor that does the speedo and talks to ECU for O/D. I have no idea where it is on the AWD trans.