2001 S430 ABS and ESP malfunction
 

I live in Nevada where it doesn't rain often. When i do drive in the rain the bottom of the car gets wet and i get malfunction messages on the dash for ABS and ESP. When the car dries out a day or two later, the messages go away. I think there may be a sensor in the rear axle area that is getting water in it. if so, it probably needs to be replaced. Can anyone tell me where and what it is?