It is likely a wheel sensor that measures the rotational speed of each wheel. I have seen them be the reason the ABS light is triggered.
I would crawl under the chassis and look for the wire that runs to the center of each wheel. There will be a connector you can pull apart that connects it to the main wiring harness.
I would pull each sensor's connector and make sure the connection is clean, dry and tight. That might solve your problem.
Otherwise you would need to have it scanned to verify it is a sensor and which wheel needs to have its sensor replaced.
It is not a difficult job to replace a wheel sensor. I have changed them on my Silverado.
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