FWIW, I have the same problem BUT ONLY WHEN IT IS HOT. If the temperature is below 80 degrees, I don't get the lights, or if the car is cold, and it's hot out, I won't get the lights until I drive around for a while.

After a lot of reading, it APPEARS to be a bad ABS module.

But I wanted to know if everyone else was only having the problem when hot....