A differential assembly for a vehicle includes a drive train for transferring motive power from an engine drive member to the right and left drive shafts which are coupled, respectively, to ground engaging members of the vehicle. The drive train includes a rotating element operatively engaged to the drive member and to the right and left drive shafts. The differential assembly further includes a first speed sensor is arranged to measure rotational speed of (i) the rotating element or (ii) one of the right and left drive shafts, and a second speed sensor arranged to measure rotational speed of one of the right and left drive shafts. The second speed sensor arranged to measure rotational speed of the other of the right and left drive shafts when the first speed sensor is arranged to measure rotational speed of one of the right and left drive shafts.