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Unit Wheel Bearing Bad
I would defiantly check the connections to the sending units, I have had one get pulled on a little due to my lift.
But I suppect it is your wheel bearing assembly, due to the fact that it lights during turns. I just had mine diagnosed last month by dealer checking signals from front ABS sending units. I replaced both unit bearing myself and no more ABS light. Once you start getting some movement in the wheel bearings the ABS tone ring that is part of the assembly does not trigger the sending unit cleanly. They are not hard to replace, but I could not find them anywhere but the dealer for the 05 up.
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