My ESC started kicking in randomly while driving, then the warning lights came on and stayed on. I thought it might be a bad speed sensor. The steering wheel has been centered with no problems for 30k miles so I was sure it wasn't that. Then looking at the front my right wheel looked as if the C was drastically bent. Weird given the welds on the C-braces were fine. It was also toed out a bit. So I lifted the front. Sure enough I could move the wheel back and forth by hand probably 2".
Bad bearing. And the speed sensor was rusted in place; had to break it. So off to the dealership tomorrow for some parts! Good news is a bearing and sensor are a lot cheaper than upgrading to a ProRock 44. Bad news is, there goes my justification for upgrading to a ProRock 44.