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I have a 97 Isuzu Trooper and the check engine light came on.  I put a code reader on it and it pulled two codes: P0502 and P0502pd.  When I looked them up one said Vehicle Speed Idle Speed Control Auxiliary Inputs; and the other Vehicle Speed Sensor A Circuit Low Input.  Does this mean that I need to replace the Vehicle Speed Sensor, and if so, which one?

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If there are no other symptoms, and the problem is just the code, you should start by inspecting the speed sensor connector. Disconnect the sensor connector and check for water in the connector. If the connector is OK, you may have to replace the speed sensor.
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The only other symptom is that the speedometer is jerking all over the place and does not keep accurate speed.  Where is the connector located at?

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