Somewhere about '98. 5 or '99 they started using the rear wheel ABS sensor to determine vehicle speed (for trip computer, too). Since this is after the ring and pinion, it doesn't know what axle gear you have. However, if you change tire size... ..... I believe the dealer can reprogram the '00 or '01 and later for tires, but only for the sizes that were available from the factory. Hope this helps.
Steve