I was pulling out of a parking lot with the wife's KJ and heard the grinding/popping sound of a bad CV joint. On the drive home all the above mentioned lights popped on. I have been researching them online and several discussions pointed me to check my wheel speed sensors. I checked voltage at the wheel and was getting 12 at both rear wheels. I did not check the fronts as I did not see a way to do this same test. So, Is there a way to check the fronts? Could the bad CV joint be causing these codes to be thrown? I am truly lost at this point, any and all help would be appreciated.