Missing left front speed signal.
It relates the to BPMV losing the left front WSS signal for at least 5 sec. at speeds over 8 mph with the brake pedal released.
Do not replace BPMV, it will not cause by faulty BPMV.
In short, chances are you need to replace the left front Wheel Speed Sensor (WSS) if the connection is good. The WSS should have resistance, if not WSS is faulty.