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I had the same problem. Here is the summary:
ABS, DTC, Parking brake lights on
Cruise control and hill descent didnt work
Brakes are almost new and pad wear sensors were new
Code: 5DC2
Replaced rear passenger side ABS sensor and lights/codes disappeared for 50miles but then came back on.
Solution:
1) Cleaned the rear passenger hub/bearing/suspension area with brake cleaner + compressed air first
2) Then cleaned with degreaser + pressure washer with hot/warm water
3) Problem solved (1500 miles and no code or lights are back yet)
Hope this helps.
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