I know on the 97-03s there is a harness that goes from the subframe down the control arms to the bearings, and they are known to go out. I assume the 04+ are the same.it's an easy plug and play replacement. Hell, if you are anorexic you don't even need to jack up the car.
Try this: Pop hood, disconnect the EBTCM, jack car up. Connect your multimeter to pins 21 and 20. Have a friend wiggle the wiring going up the left front (driver) control arm and see if the reading changes on meter. Then connect the meter to pins 4 and 5, and do the same thing on the passenger side front. If they're the same, try the same for the rear tires. Pins 22 and 23 are driver rear and pins 2 and 3 are passenger rear. It might be easier if you have a friend to help, but it can be done alone. If it passes those tests, you might have a bad EBTCM, they're about 80-130 to have rebuilt online. You take it off ship it off, get it back at the end of the week and reinstall, that's it. You can drive without an EBTCM, you'll just have the ABS and TCS lights on all the time.