do you have ABS fluid topped off?
did anyone work on the suspension or brakes prior to the ABS coming on?
if so, sometimes ppl mount the ABS line either too high or too low onto the aftermarket suspension. When turning max left or max right, the ABS line is stretched…and causes the ABS lights to turn ON. Prolonged stretching of the line may have cause permanent damage and thus, you may be experiencing issues when driving straight. Check the ABS line by jacking up your car…remove the wheel, and turn max left and max right. Inspect the ABS line.