[mustang67408]

P0200 indicates a problem with the right front speed sensor circuit.
If they replaced the sensor, ohm checked the wiring(shows good),checked the rotor serations, then the last thing is the SKID CONTROL ECU (internal malfunction).The speed sensor detects wheel speed and sends the appropriate
signals to the ECU. These signals are used to control
the ABS control system. The front and rear rotors have 48
serrations each.
When the rotors rotate, the magnetic field emitted by the permanent
magnet in the speed sensor generates AC voltage. Since
the frequency of this AC voltage changes in direct proportion to
the speed of the rotor, the frequency is used by the ECU to detect
the speed of each wheel.
Without looking at scan tool data this is just a guess. They should be able to drive the seqioua in CHECK MODE, until it sets the code. This will store freeze frame data that can be reviewed.
A faulty wheel bearing might also cause this, but doesnt fit the profile.
A weak battery might also cause this condition, it is possible that it could loose its calibration, replacing the battery and performing a zero piont calibration may also cure this condition.
Alot of camry sunroofs loose their calibration and dont function properly, replacing the battery and zero point calibrating it fixes 99% of those.
The 03 highlander I had yesterday would set off the ABS and cause the brakes to pulsate as you drove, you couldnt go faster than 5 mph without the brakes clicking and vibrating. IT WAS A BAD BATTERY. I replaced the battery, performed the zero point calibration and problem solved.
P1223 is just telling you there is a malfuinction in the ABS. AND REFERS YOU BACK TO ANY OTHER SET CODES.
Hope they find your problem

Here is a attachment for the zero point calibration procedure