July 1: So it begins. Don't worry, this is not in the correct legal jurisdiction!

Check The Ground Circuit

Disconnect the Connector from the ESC Control Module.
Check for continuity between Terminals 13, 38 of the ESC Control Module Harness Side Connector and Ground Point.

Fig 1: Checking Continuity Between ESC Control Module Harness Side Connector Terminals And Ground Point
Courtesy of HYUNDAI MOTOR AMERICA
Is there Continuity?
YES
- Check the Wheel Speed Sensor Circuit.
NO
- Repair an open in the Wire and Ground Point.