ABS and 4WD problems of X Trail 2007

Greetings to all the people who make up this excellent forum.
I have a problem with a Nissan X Trail 2007 4x4 The following happens: I turn on, handling, I feel that the speed does not match what the board says, when I reach 30 or 40 k/h lights the ABS and 4WD light of the board and the velocimeter clock returns to normal; velocimetro sensor? Or it carries it on each wheel? and works with ABS (anti -lock system). Note: The box works perfectly and the light of a thousand does not turn on

Well, if I tell you the truth ... I have no idea if it carries the Renault system (average wheel speed) and wears nothing in the gearbox. Or whether it carries a sensor in the box and then those of four wheels to determine whether or not.

I suppose it will carry the double system, that is, it carries one in the box, on the side, and the rear, where the flange is going to screw the transmission crosshead.

And then it will wear four phonic sensors, one per wheel, which are the ones that determine at all times if the car skates or not.

If he tells you that the speed sensor fails is that the gearbox fails, as well as the car is high, get underneath at one time and with a flashlight, look at a look below at the change, that surely next to the transfer carries something.

All the best.