Finding someone with a scan tool that will read the abs system is the hard part. You have the code for the rt. rear so now you have a starting point.

Check/inspect the wiring to the sensor. If it looks ok it's more than likely a speed sensor that failed.

I just had my rt front one fail on my 08. The speed sensor is sold with the hub bearing.

The groaning noise comes from the abs unit thinking that a wheel has lock up and it is releasing brake psi to that wheel.

Once the abs system figures out that the sensor is not reading correctly it sets the code and disables the abs and traction control.

The weird noises should only be heard when the light is not on and the system is trying to work with a faulty sensor.

 

I just stumbled across a TSB about this. If you have had an alignment done you may need to have the Steering Angle Sensor re calibrated. TSB# 11-05-25-001

Put that number into GoOgle and info pops up.

 

Thank you, Don...I'll check it out!