The ABS light Break light & ESC light are on. Also TPMS comes & goes. on 2008 Kia Sportage

My car also hesitates while driving. Auto Zone said it was either the speed sensor or a hydraulic part. Dealer said that I could only get the part through them. Not sure what to do.

Asked by for the 2008 Kia Sportage
Have the ABS system scanned for codes.