I've had the same thing. Mine is an intermittent failure--the lights come on, I shut the truck off, wait a few minutes, start it up again, and it looks just fine. I finally got it to stay on consistently, so I brought it to the dealer. They said the code that was set was marked as "old" by the ECM (I think I was being fed BS here) so they reset the ECM, which turned off the lights, and sent me on my way. They told me to come back if it happened again.
It has happened again, but again it is intermittent. I can't get the lights to stay on long enough to get to the dealer.
I think I recall reading something about this being caused by a bad rear wheel speed sensor. I couldn't get my dealer to check mine. They said they have to follow their flowchart based on customer complaint and the codes set in the ECM. If they went straight to checking the rear wheel speed sensor, and it was not the problem, they could not charge DC for the work under warranty because they did not follow their prescribed protocol.
Kind of makes you wish you didn't know any better. The dealers' programs are designed around ignoramuses. (ironic, I probably just misspelled ignoramus... . )
--J