Ok, so i get in my car, and go to start it, and the ABS light stays on, and I can't shift out of park. Then like 20-30 seconds later, it chimes, the abs and tracs lights blink, and im good to go. I hear the self test noise at 18mph. The same thing happens after i shut off in my driveway, maybe 2 more times, and then it starts up just fine, no lights stay on, and everything is ok. I know i have really warped front rotors and pads, and that i need to change them asap, and i know the serpentine belt is going. But i don't think those should effect the lights, right? Anyone know what is oging on?