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3rd Gen Ram Tech2002-2008 Rams: This section is for TECHNICAL discussions only, that involve the 2002 through 2008 Rams Rams. For any non-tech discussions, please direct your attention to the "General discussion/NON-tech" sub sections.
I was driving today when the abs light and brake light came on followed by beeping. It went off later in my drive. This has happened to me twice out of the 6 or 7 different drives ive taken today.
Replace/check the wiring for the rear wheel speed sensor. It's on top of the rear pumpkin. One bolt, and then carefully pry it out. Don't let anything fall into the open hole
You can always download the service manual for your truck from the links in my sig but in the mean time you also need to see if you have any DTC codes logged in the PCM.