U140B Sprinter Error Code

[RVwithDogs]

so, I was driving at 65 mph and transitioned from good pavement to rough pavement and my 2014 Sprinter Navion put out 3 warnings on the dash, the ABS, Traction control and the spinning tire icon. I did not go into limp mode so drove 30 more miles to get home. My ODB tool and android Torque app shows fault code U140b which some research shows it is a left wheel speed sensor. Crawling under the RV it looks like it would not be very hard to change the sensor but how does one disconnect the old one? Are the plugs they use just pull apart ? and is it best to get a new one from MB or is aftermarket ok ?
Am I barking up the wrong tree, could something els be causing the dash display and is it ok to continue driving until this is resolved ?
Thanks for any advise.

[RVwithDogs]

I forgot to add, would it do any good to try and clean the sensor?

[Winterbagoal]

You could try, if you knew how to clean it. I wouldn't know where to begin, except search youtube for a how to video.
Just driving it normally might "reset" the fault code. I had the triangle warning light come on, early days when I was still learning the ropes driving my Navion, when I was being pounded by some strong crosswinds, and was weaving a little too much at highway speeds. Also entering/exiting steep driveways and parking lots, with exaggerated "curb roll" tripped them once, iirc, too.