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I am not sure if this will help since I had this happen on a 2001 and I believe that your truck is a 1995 but I found that it was the speed sensor on the rear axle had broke in half. Hope this can help, Andrew
I had it happen twice to me. both times i just drove it for a little while, shut the truck off then restarted. the first time it was raining like mad and the second time i was blasting through snow drifts. I think the moisture messed something up. once it warmed up and dried out it was fine.
I just had this happen to me. I pulled out of the drive way early in the morning and going down the road the ABS and brake light came on. I got out and checked fluid level, looked for leaks but nothing. I shut the truck off and restarted and they went off. A little later on when my wife was leaving the house to go to work she called me and said that she's no mechanic but I think that there is a brake pad laying in the driveway! After work I checked my truck and found that the DS rear outside pad had only half the pad material left on it. I took an easy ride home and found that the pad she saved was the other half. I guess original pads aren't made to go 97k.
I just had it happen again after 3" rain, thought the speed sensor in the pumpkin was bad - NOPE, just the connector on top - cleaned the contacts, filled it with dielectric grease, and reconnected - Joy all round, past 10K miles. Thank God Dodge doesn't make submarines - water's not their friend!!