I have the same issue on a 2001 Dakota 4.7L Quad cab. The truck starts up and is fine, with no dummy lights. Then after a mile or two the ABS light comes on with the brake light. I have a few things to try, but I wish there was a better way to isolate the problem. If you plug into an obd sensor will that shed some light on the issue?

 

Take it from me, the lamp may very well be coming on for a true problem. My wife drives a 2006 G Caravan, and last year the brake lamp would come on and off intermittently. It turned out to be a bad wheel bearing. So, have it checked out if the problem does not go away.

 

had the same problem with my endied up being 3 problems, bad driverside front wheel bearing, bad driverside front abs sensor and bad rear abs sensor, the one on the dif

 

Yea that sensor is in a bad spot with no protection. Burry the truck once up to the diffs in mud or snow will almost for sure cause troubles.

 

maybe I will start my replacing the sensor on the axle first, and see if that helps.