So, if you search the threads, multiple people have had this happen to them:
I cut and pasted a post from Steve the Tech:
I would like take a few moments to address some of the most common things I see that will cause re-occurring illumination of the ABS, SLIP, VDC and/or AWD light(s).
-Low Brake Fluid
-Inproper setting of the steering angle sensor
-Communication issue between the throttle position sensor and the abs control unit
-Incorrect wheel speed sensor input signal to the abs control unit (this can either be from a wheel diameter that is not consistent or altered wheel speed sensor normality)
With the exception of the first none of these things are things you can fix yourself without access to the ABS and other control units to retrieve appropriate diagnosis information
so, you may want to top off your brake fluid and see if that solves the issue, but if it doesn't you prolly need to roll into your closest, trusted stealership and have them hook up a Consult II/III to see what the problem is.
Craig