I have an intermittent ABS problem too. Had an emergency stop situation and locked up the rear tires resulting on a flat spot. Replaced the four rear tires at 2500 miles for more than $1000 because the dealer could not find anything that said that the ABS malfunctioned. Didn't happen for a while but returned recently. Took it in again and the Dealer found a code this time. They ordered a new sensor but due to timing I had to leave. Took it in to another dealer in the town where I went (and had the light come on between dealers) but the second one could not find anything wrong with it so no sensor/fix here.
Anyways, just another problem to add to the list.