OBDll code p1739 general position encoder fault est off light on slow acceleration

Question

OBDII CODE P1739 general position encoder fault also shows a C 1213 VSS abnormal code and a C 1211 RR wheel speed sensor air gap code the main problem is the ESC OFF light is always on now it was intermittent before and the vehicle accelerates very slowly making pulling into traffic a problem 2007 kia sorento