from what I'm reading, the ABS sensors or the pulse ring could be at fault. sensors are inexpensive as is the pulse ring, but I'm not sure how long it would take to get a mechanic to replace the ring. It's possible to do yourself if you have the right tools and experience. The yaw control module is the other possibility and this is about $1000...easy to replace though under the amp beneath the passenger seat. Good luck, I'm about to get my quote for same issue