Well the ABS module (Bosch 5.7) is a common weak point over the age of the module, assuming the 4 wheel sensors are good if the module is still throwing random errors it probably needs to be rebuilt.

At $95 it is almost a preventative thing since most of us with the Bosch 5.7 will experience the random trifecta due to the module, on our vehicles.

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2018 Ram 2500 6.7L Cummins 68RFE
19k miles -Bright White/Black - Big Horn Sport - Crew Cab Short Bed
2013 X5 35D (CEO's) - Born on 5/17/2013 -
82k miles - Alpine White/Cinnamon Brown/Premium Pkg, Sport Activity/Premium Pkg and Sound/20" Style 214/Running Boards