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93 Es300 Multiple Abs Codes - 31,32,35,36

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I've been searching everywhere for what to do in this situation and i haven't come up with any good answers, hopefully someone here can lead me in the right direction.

My 93 Es300 has the ABS light constantly on. I've been driving it like this w/ no problems for about three years. Now i need to have an enhanced safety inspection in Pennsylvania and this needs fixed in order to pass. I've gone through some of the diagnostics and am coming up with trouble codes of 31,32, 35, and 36, which i believe is all of the wheel sensors. I'm sure that all of the sensors would not go bad at the same time. Where should i look next at diagnosing what needs to be repaired? Any help would be extremely GREAT!!!! Thanks!

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