ABS, ESP, traction contron lights on my Jeep Patriot 2009

We had all 3 lights on, ABS, 4WD! and ETC. at first we took it to our mechanic and had the ABS sensors cleaned, we checked to see if wires were worn. Nope. So then we took it to the dealership to check the problem. It was $114 to diagnose it. They called us in 2 hours saying it was the Speed Sensor, they had 1 in stock and in another hour it was fixed. No more of those 3 warning lights on and a lot more zip and power when accelerating. Ours was a 2010 Jeep Patriot. What a difference in driving now.