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Hi my name is Robert.....
I would have the battery load tested, most auto parts stores will check them for free, check your cables as well make sure they are clean and tight. The ABS system is very sensitive to low voltage and it might be the first sign if you are getting ready to have a battery or alternator going out. Make sure the ground on the battery is clean and tight to the frame as well. IF the car is also not starting then it could be a voltage issue so all these could be tied together and I would start with having the battery tested.... IF you have more questions or concerns please feel free to contact me... Robert
Also if you have a meter at 1500 rpms you should have about 14 volts DC on the back of the alternator, if not then the alternator or belt might be the issue.... Robert
Was just checking in to see if my answer helped, if you have more questions or concerns please feel free to contact me.. Robert