Hello, I am Danny.
Yes, it sounds like your brake sensor may have gotten contaminated/damaged from the power steering leak. Replacing the brake sensor is fairly easy once tire is off the ground and the wheel is removed. It is accessible from the backside and is mounted to the back of the spindle/hub assembly. I have attached a picture of what it looks like. Hope this helps and feel free to ask any other questions if needed. Thanks for using 2CarPros.
Danny-
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Thursday, August 16th, 2018 AT 5:26 PM