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If I had to guess I would guess its probably a bad wheel speed sensor but I would personally check the ABS codes first and see what code is set.. it will save a lot of guesswork and wasted money.
If you have a scan tool and can get the codes from the ABS module I can tell you what to check to verify the problem. Without knowing what the computer is seeing theres no way of knowing what to check.. the computer sees some part not behaving like it should but it would be silly to check all the speed sensors and associated wiring just to find out the problem was for the ABS module not getting power or something. All you can do is look around and see if you see anything obvious or order a cheap scan tool or something to get the codes.