An update on this, both to ask for help and add information to the forum.

I ended up buying a pair of rear ABS sensors for the M226 axle from ebay. Only $35: 2 ABS Wheel Speed Sensor Rear Right & Left Fit: Nissan Xterra 05-15 Manual Trans | eBay

I replaced the rear left side, which was throwing code C1102. Had codes ran again, now I have

C1106 (rear left sensor 2, not 1)
C1162 (steering angle sensor circuit, same as before)

ABS, VDC, slip lights still on. But, ABS no longer pulsing when I use the brakes. I think I can feel it pulse one time each time I drive it, shortly after starting and when returning the wheel from a hard right or left turn in the parking lot back to center (so, I imagine related to the SAS).

I pulled the steering column apart to check connections to the steering angle sensor. Seems fine. Have tried the 'unplug battery and let it sit with wheels aligned straight' to no avail. I dont know if I need a new sensor, or if I just need it calibrated by Nissan. As for the new rear left sensor code, wondering if the tooth gear (I might have the wrong name) needs cleaning. I don't have compressed air, so this is a bit challenging.

Really want this fixed before we get winter road conditions, so might need to take it to a shop in the Denver area. Any suggestions on what else I can try or a shop that could help me for a reasonable price are greatly appreciated.

 

Well, tried to remove the abs sensor throwing the code. Got the bolt out no problem, but the sensor is rusted solid into the hole. I guess I will be buying a new one. If anyone has a recommended place to buy a rear abs sensor for the M226 axle, please let me know!

 

Thanks for the reply! Yes, I am thinking removing the fuse might be a good short term solution. Long term maybe I should wire in a switch in case this ever happens on the trail...

I pulled the wire connector to the ABS unit. All wires and connections look good there.

I don't understand the relationship between the steering angle sensor code and the abs codes, either. I also don't understand if the voltage code is just a side effect of the left rear sensor code, or vice versa, or...

Thank you.

 

Three items of advice:
1. Be gentle with the ABS sensor in case it is frozen in the hub and will brake when you try to remove. If it were me I'd amazon a wheel bearing with a new sensor so you car is not down waiting for parts. Even a cheapie just to get you by or keep as a future emergency spare.

in the meantime --

2. Someone correct me if I'm wrong, but can't you remove the fuse for ABS or cut the Yaw sensor wire under the cupholder to ABS (ABS Switch mod; splice in a toggle switch). I agree with you the ABS actuating feels like it is increasing brake distance, not helping brake distance. plus there have been many times in snow or mud that locking the tires up are easier to control the vehicle. You can still switch into and out of 4wd with the Yaw sensor cut even though the ABS malfunction light is illuminated on the dash (big deal so you are not stuck somewhere with only 2wd).

3. clock spring i am not familiar with as mine is still original. i'll defer to someone else on that issue as maybe the clock spring causes other issues like you have.