I got these warning lights too. Have just had to replace rear, passenger side wheel bearing/hub because integral retaining clip for ABS sensor has rotted away due to rust. See pictures that show original, rotted OEM hub and new SKF replacement. The ABS retaining 'clip' is the bit on the left hand side of the new hub picture, completely gone from the original hub.
This new one is a SKF made hub as the OEM Mitsubishi item comes in at a wallet bustin' £375 inc VAT, whereas SKF was £183. Mechanics who fitted it were happy with SKF as a reliable alternative to OEM. Fortunately the ABS sensor/wire itself was not damaged as that is an eye watering £316 inc VAT from Mitsubishi. So if both these parts had to be bought from Mitsubishi that would be £691 for parts alone. That doesn’t include fitting which should take a skilled mechanic around 1 hour. The cost of these OEM Mitsubishi parts is difficult to comprehend.
The retaining clip on the driver’s side rear currently seems to be ok so I’ve smeared some silicone grease (doesn’t attack plastic of ABS sensor - petrolium based grease may eventually attack plastic) on it in the hope that it won’t rust to oblivion too. And some silicone grease on the new one too. I’m guessing the passenger side rotted first as it gets all the poop from the gutter side of the road on it over the years. I do actually keep the underside of my PHEV relatively tidy as I clean, paint, grease and squirt WD40 on it at least twice a year when I change the summer/winter wheels. So if it was not regularly cleaned I would imagine this will happen much sooner than it has. I don’t know if the same rear hub/ABS attachment system is used on later PHEV models but I’d suspect it probably is. So you might want to smear some white Silicone grease on yours (if they're still there) before they disintegrate.
This is on a 2014 GX4h which has done 44,000 miles. This is a common problem with this design of hub which is also used on some Renaults and I think Peugeots. Not an especially good design I’d say, as the whole bearing/hub has to be replaced because of one, small ‘clip’.
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