Thank you for choosing Just Answer for your inquiry. My name is XXXXX XXX I will be assisting you. The lights are coming on from a fault in the ABS system. Most likely from your RWAL(Rear Wheel Anti-Lock) Sensor. When it gets warm it's not sending a signal. That would be my first suspect to your issue. It is a sensor that plugs into top of rear axle and counts teeth on the differential.