Maybe another member can have some insight on this problem. I'll start and drive my beloved CTD maybe about 40 or so miles and then the ABS light and the "brake" light will come on simultaneously and stay on until I shut her down. Upon restart, it's all OK until I drive some miles and then yes, both lights come on and stay on again until shutdown.
Brakes work fine and fluid level is OK. 185,000 miles on her. It would kill me to have to visit the dealer because I just had her in for the 5th gear nut problem and I hate giving them $$. Could this hopefully be a fix-it-myself job? I've done my own valve adjustments, brake jobs and other normal services. I like workin' on my truck & gettin' greasy :-laf Suggestions anyone? 

