Dex 6 is backwards compatible with Dex 3, but you can't use Dex 3 in a Dex 6 application per GM. So to answer your question, you can use either one and per GM you can mix them for you application.
You need a scan tool that shows individual wheel speed . You will find that one of them is dropping to 0 before the others. This is a sign of either a bad hub bearing or tone ring for the wheel speed sensor. Either way the fix is usually to replace the hub bearing that is dropping to 0 1st.