A wheel assembly for a non-driven wheel includes a rotating wheel hub with a shaft portion supporting a bearing inner race. A magnetic encoder is mounted for rotation with the shaft portion. A non-rotating component radially surrounds the shaft portion and has a bearing outer race. A cap is secured to the non-rotating component and covers the outer and inner races, the shaft portion and the magnetic encoder inboard of the races to seal an inboard side of the outer and inner races. A sensor is mounted to a non-rotating vehicle steering member externally to, not covered by, and not extending through the cap. The sensor is configured to deflect to be biased into continuous contact with an outer surface of the cap to read the magnetic encoder through the cap without extending through the cap.