Most common is a faulty abs wheel speed sensor. Have you had the vehicle scanned to see what abs codes are stored?
Yes it's most likely a 75 dollar part and about 75 for the labor at a shop. You can try to disconnect the battery for 15 minutes and see if it resets. If the lights come back on then you need to have it scanned which is no extra charge when doing the repair. Also any advanced auto, Aamco, Autozone or Meineke can scan the vehicle for free .These are the next steps.
I am an Infiniti Master Technician and I will do my best to assist you with your Question 9 times out 10 it is just low brake fluid caused by worn pads
Check the fluid level an have your brakes checked.
Yes, there is a correlation. There is a float sensor in the brake fluid reservoir so if the car is tipped the fluid will run to the back or the front and the float sensor will inform the ABS control unit that the fluid is low and trip the light. This is a safety pro-cation so you know the ABS system will not work in an emergency. You may also notice the red brake light flickering around hard corners. You probably need rear brakes at this time. Fronts tend to wear slower. Get you brakes inspected again before you start hearing noise! You could top off the level now with Dot 3 brake fluid. Any other fluid will damage the system!