My abs light came on about 2 weeks ago out of no where. I recently changed my rear brake pads about a month ago and my front pads about 4 month ago. The brakes pedal also vibrate a little bit when coming to a stop. This only happens on a couple of stops after i start up the truck. The brakes also stick a least once after starting up the truck and driving it. Would could be the probable causes of this issue?

 

Welcome to DF.

Sounds like premature activation of the ABS solonoid. When the ABS activates it basically pulses the pressure that you apply to the brakes. It almost sounds like gears stripping and feels like a drum roll on the bottom of your foot.

Maybe you have a bad sensor or it's dirty? rear sensors are on top of the rear diff above the driveshaft. Front sensors are in behind the wheels. Most Rams only have RWAL rear wheel anit-lock.
If you didn't open your lines when you changedd your pads(the correct way) then you should have no problems. Caliper changes require opening the line which allows air in.

 

I replaced the abs rear speed sensor, but the abs and brake lights are still on. I haven't felt any vibration but im not understanding why the warning lights still on.