Last Friday, I was braking to slow down on an interstate exit ramp and was barely coasting when I felt the ABS system kick in very lightly and some strange, but faint sounds came from the passenger side of the vehicle and the dashboard lights came on as shown in the image below. The conditions were dry and the car was not slipping on anything.

I wasn't far from my destination, so I drove the remainder of the way without issue, but I was very cautious and periodically tested my brakes. I arrived without issue, shut off the car, had dinner with my family and left about 1.5 hrs later. I started the car, and the lights were off. Moments later, the ABS Self-test kicked in and the ABS light came on. I continued to drive through the parking lot and as I braked at the exit, all of the dash lights lit up as they did before.
I hope someone has seen this issue before and can offer some guidance or ideas as to what might be causing this before I get screwed by a mechanic for hours of diagnostic time and parts I may not need. Any thoughts, ideas and suggestions are welcome and very much appreciated.
A little history: The car has been great and operating flawlessly, except for my front brake rotors being warped for the last 4,000 miles or so, causing pulsating. I've only ever replaced the rotors and pads (Front/Back 5 years ago and Fronts 2.5 years ago) and lubed the calipers with the help of a friend. It is probably time to replace all four rotors/pads and calipers and in the process, drain/replace the brake fluid. Unfortunately I am not up to the task of doing this on my own and it's just too darn hot. Any ideas/estimates of what this job would cost with parts/labor?
Thanks in advance for your thoughts, ideas and suggestions and any pricing estimates you can provide to have the full brake job work done.
