I'm dealing with this too atm. As you've already concluded, you can't just clear those types of codes. Mine is showing a U1418 code ESP/ BAS lights are illuminated. I also unhooked both pos and neg batt terminals overnight... no dice. With my particular code there's several potential culprits.. hub bearing, tone ring, speed sensor(s), alignment, even possible clock-spring ( which would suck as I've recently replaced that with no issue ( under the recall = parts reimbursement... although not sure they will cover it if I have to replace it again).
Idk... If you haven't already, I would look to see that your other sensors are okay and also make sure that there wasn't collateral damage to the speed-sensor lines/ connections.
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