So I am having an ESP issue, and someone I am talking with who worked at Audi for like 10 years said it is probably my wheel speed sensors. He told me to have it run a scan of my wheels while driving to see if one of them is spinning at a different rate than the others or not registering at all. I ran a generic scan and there are no fault codes present, so that is why we are pretty sure this is the issue. He has hasn't used one of the newer scanners in a while, so he doesn't remember 100% how to do it otherwise he could have helped, and he recently moved out of state so I am on my own. Wanting to try and get this figured out myself without having to spend $120-140 just to have the dealership tell me to replace a sensor for $300 that I could do myself for $50. Anyone have any ideas how to monitor my wheels while driving with VCDS?