Sorry if its blatantly obvious but it seems that you are driving it in 4wd on the tarmac?
This is why the wheels are skidding, thumping and lower power as you are driving all the wheels at the same time and this is detrimental on tarmac only to be done on soft ground or loose surfaces
Also the transmission is 'winding up' which is causing the issues with the ABS and speed sensors
Try running it in 2wd all of the time and you shouldn't have any issues
Good also to put in 4WD when on the appropriate surfaces every so often to keep everything in the 4WD system working free