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Usually it is one of the rear ABS sensors. If you check for codes there might be one that shows which wheel it is. If you can use Torque or some other method to watch wheel speeds and signals from the ABS sensors it might also show you what is going on.
 

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First would be hook up an OBD-2 code reader and see if there are any codes. Might need a more than just basic one to get "chassis" Cxxxx codes and some of them have sub codes (so you see Cxxxxx:xx) and start there.
 
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