If you have cruise and it still works it's not the n/s/f , if your speedo still works it's not the o/s/f. That just leaves one of the rear wheel bearings. I had the exact same fault of a crunchy pedal but having the use of a Bosch KTS , I traced it to the O/S/R by driving at 5 mph and checking the speeds on all four corners. The fault is usually due to the backplate behind the bearing swelling with rust and touching the bearing. Tapping the damage flat and treating the rust before replacing the bearing should save you doing it again in a short time !
My car with the fault was my 2003 Connie se diesel auto too