the "TRAC" light and the "VSC TRAC" light appears and then a couple beeps alarm

Having same issue with our 05. Brake light on stop n go traffic and now the trac vsc.. Do you get codes read at auto parts house or at a shop? Or if its not too $$ just replace all 4 ? just now noticed you are a shop

The recommended thing to do is to have testing performed at a qualified repair shop (not a parts house) to verify where the issue lies. Do not start by replacing all four sensors. This is extremely costly and is not a determinate answer to the issue. Any qualified shop will perform testing and then contact you with the results of that testing.