2004 Scion Xb Brakes grabbing
 

Symptom: You tap on the brakes and they lock.

Took the 2004 to the local dealer.... "We found the right front wheel speed sensor making contact with the Axle reluctor" recommending replace the right and left front Axle, speed sensor and knuckle $2500.

I want to do this work my self but found it very difficult to find a service manual...

Ps advise

Huh!? I would think this problem is with your braking system not your axles and speed sensor. You may want to check your brake system for leaks especially around the Master Cylinder (I'm pretty sure they may have but I don't trust the Stealership). So basically is it all of your brakes locking up or just the front?