Same thing happens in my 2007, I call it the ghost in the machine. Finally was able to get it to the dealership WHILE it was happening. Grabbed a mechanic to come look at it, he had never seen anything like it. They ran diagnostics and found evidence that “there could be a short in the ABS controller, or in one of the connections.” I can’t remember if the part alone was over $500, or if that was for the whole job...but they admitted they didn’t know for sure if that would fix it. I decided it was more than I could spend at the time to start throwing parts at a problem that couldn’t confidently be identified. And the issue had already come and gone enough times for me to test my ABS and other driving accessories… Other than the annoying lights and dinging everything seemed to function fine. I’d lock my brakes up in snow but ABS still kicked in. This has been my daily driver with the ghost in the machine coming and going for about seven years. Usually once I reach my destination and turn the Jeep off, when I come back out and start up again it’s usually gone. Will still have a check engine light for a day or two. But then that goes away as well and everything continues to operate normally.