Definitely a broken wire on one of the front wheel ABS speed sensor.

 

Yeah, but can it be that intermittent?

 

Check the rear abs tone rings. My abs was coming on on hard right turns below 5mph. I found inside the knuckle there is a wheel bearing dust shield. The rust behind it was pushing the dust shield into the abs ring. The abs ring was ground almost flush. Unfortunately the ring cannot be bought separately, you have to replace the whole axle. The dust shield has to be removed and clean the rust behind the shield, then replace with a new one. Did mine last week. Good as new.

 

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.

 

Replacing the axle and dust cover 4245130010 fixed my problem.