Here's how I fixed my problem today, after doing much research on TDR.
My problem was that the wiring from one of the sensors was broken internally, here is how I found the problem and fixed it.
After reading many threads, it seemed that the differential sensor is often the problem, so I was suspicious of it. Off of one thread I read that the resistance of the sensors should be about 1400 ohms. I measured the resistance of the sensors by using a multimeter at the ABS connector going into the ABS computer on the driver's side fender well. For a 95, pins 1 and 14 are the input from the rear wheel (differential) sensor, pins 2 and 15 are the input from the right front wheel sensor and pins 3 and 16 are the input from the left front wheel sensor (this is for a 95 all wheel ABS truck). The resistance value should be 1200-1800 ohms (mine were around 1400 for the working sensors). Using this method, I found that the left front wheel sensor was the culprit (open circuit).
Being too cheap to just replace the sensor without trying a cheaper solution first, I cut the wire from the wheel sensor about 3 inches from the sensor and measured the resistance there... I got 1470 ohms so I knew the sensor itself was OK. Going along the cable, I found a spot that seemed squished. I cut out this section, soldered in a couple of new wires (one side to the sensor, the other side to the good wires going to the connector). Put heavy duty heat shrink over the soldering job and put everything back together. Started the truck and... problem solved! Oo.
So, using TDR info, I managed to solve my ABS/Brake light warning light issue by spending about one dollar on a couple of chunks of wire, some heat shrink and some solder (all of which I already had on hand). Thanks TDR! (again!)
So, if you were driving down a dirt road at the time your lights came on, it's quite possible a rock flew up and broke one of the front wheel sensor wires or the rear sensor wire. By measuring the resistance at the ABS plug, you could figure out if all your sensors are OK. If one of the circuits is open you could replace the sensor (which comes with the wire and connector), or try to find the break in the wire and solder in new wire. Good luck.
Ron