Had same issue with ABS and Brake light coming on, brakes felt fine for the most part. The ABS was triggering very easily though and could feel it through the brake pedal. Turned out being a speed sensor was bad. I guess there are 3 or 4 speed sensors and they all need to be reading the same speed otherwise it thinks one of the wheels are slipping and engages the ABS. Not sure if this is exactly the same issue you are experiencing.
04.5 ram
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04.5 Silver Ram 2500HD Quad Cab Laramie
325hp 4x4 Auto
Mostly Stock
Quadzilla XZT tow module
Towing: 2007 31' Jayco travel trailer
2005 14' enclosed snowmobile/motorcycle trl
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