I have had some issues with this popping up in the last month. I had previously pulled the sensors and cleaned them and the message went away. It came back every morning, going away during the day. After pulling the main harness connector to the ABS and cleaning it, I decided to take it to the dealer so I could get the codes read. It was a bad sensor on the left front and this seems to have fixed the problem. An interesting issue developed with my extended warranty...they send an inspector to the Dealershp to assess the diagnosis and the dealership wanted to replace the harness too, but the inspector refused and the harness turned out to be okay after the inspector required them to do a pinpoint test on it. Just an example of how costs can get escalated. I was a little irritated that the inspector dealyed my getting my car back for a day but I was glad he made the work more accurate.

 

Yikes, looks like the warranty company sent out a representative with some nuts.