ABS, SLIP, and VDC lights on, no 4WD available on 2005 Pathfinder

I hit a pothole and my VDC, SLIP and ABS lights came on.

I disconnected the battery and they stayed off for a bit then came back on. Now disconnecting the battery does not remove them.

I had the codes read:

C1163 - ST ANGL SENS SAFE
C1102 - RR LH SENSOR-1

I replaced the rear sensors and had an alignment done. The lights are still on the codes are still returning to the reader.
I tried to do an erase with an Autel 619 reader. It reads the codes but the erase process did not remove them.

Any one have any thoughts at something to try before I bite the bullet and take it to a dealer? I'm not a fan of my local dealer and don't trust their competence. I've done a visual inspection of the wiring and connectors and did not see anything obvious.

The thing that bothers me the most as it will not go into 4WD now and it is my understanding this is because these codes are preset.

Thanks for any advice.