Jeep patriot warning light are on. Are my problems connected to one another? on 2007 Jeep Patriot

So I have a 2007 jeep patriot 4x4 it is a standard and at 63000 miles the abs 4x4 ESP and the traction control lights came on so I took it to the dealer they put a new speed sensor on it. And now at 90k miles they are all back. They have come on and off randomly over the last few weeks and today when I try to stop it acts like it is sliding or skidding. Almost a feeling like the brakes are locking up.The gas milage has also dropped drastically today .. Do you think the issues are connected? And any ideas?

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