Trouble shooting abs bearing

[chomamma]

So, all my light lit up. ABS, trac control, ses. First guess is bearing. But which one? Its a 2004. Does it have 4 wheel abs or just the front. I have no play in the wheels, no noise no excessive heat. Also have not unusual sounds. Millage is 40. Had a hit on the left rear corner panel last year. No lights came on though.