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Can anyone suggest what I should be looking for here? The Rear Axle sensor is clean and working... I do get the ABS light every now & then. I am also having some rear axle noise but the speedo is getting worse on downhill coasting.

If you listen carefully... you can hear what sounds like a bearing noise.

Here is the link to YouTube.

https://youtu.be/_ZRaJP0Pmk4
 

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What codes do you get? I had an issue with VSS codes that turned out to be decayed wiring - http://www.thedieselstop.com/forums/f24/abs-codes-c1229-c1230-334730/

The rear axle noise sounds like your carrier bearings going out. Not the center support bearing that people mistakenly call a carrier bearing, but the actual carrier bearings in the differential.
 
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