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2006 subaru outback 2.5non turbo automatic

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on my 2006 subaru outback im getting a er ss and abs and cruise contol on instrument cluster i check to see the codes for the er ss and it gave me c0101, c0104,and c0111 i know the c0101 and c0104 are the speed sensors how can i test the sensor to see thats the problem and for the c0111 Motor/motor relay on failure what is that one and how to diagnose it
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