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The diagnostic system depends on the availability of electrical signals. The system cannot penetrate further in respect diagnosis, than the source of the signal. Code 10 is far from selective and could result from any number of faults.
Your mention of an incident involving impact with a wheel is rather confusing, in that you do not make it clear as to whether this immediately preceded and can therefore be definitely aligned with the problem.
In the event that fault indication immediately followed the impact, you must suspect associated mechanical damage as being the primary fault.
As a first off, check the right front ABS sensor and the associated electrical harness for damage.
I have no knowledge of any safety interlock system between the ABS control and the gear shift. Someone else may be able to advise in this regard.
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Trevor, New Zealand.
As a child, on cold mornings I gladly stood in cowpats to warm my bare feet, but I detest bull$hit! 
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