I would guess a sensor wire/connector for one of the front wheels is damaged/loose.
I had similar problem on my 03 that was really intermittent and it turned out that one of the pins had come loose and pushed back into the connector. It made contact sometimes, but hit a few bumps and dash lights and dinging. Drove me crazy. I had gone over everything I could and a mechanic friend at the local Tuffy shop found it for me. (helps when you can plug in and have a computer narrow it down to "right side ABS sensor... . )
This is posted in FAQ Forum. I'm moving it to the 3rd Gen (No Engine/Trans) Forum.