Ok got my amigos cleared up and the 1591 code showed up today ABS and TC lights. Indicated left rear on a NANOCOM- This is where I had a caliper issue.

The wheel sensor cable could be damaged causing odd ball readings.

I suspect the caliper is going, the brake pads are tapered top to bottom when I inspected them.

Hub could be iffy as well, although it seems ok no unusual movement.

Any suggestions ?