For anyone else coming here to research why, yes, replace the wheel hub assemblies. The ABS part (exciter ring) is going bad and causing the issue. Low-end parts run about $55 each so for about $220 and maybe half a day's work, you fix the problem yourself. If you take it to a garage, expect somewhere around $400-$600 with labor and higher-end parts. Also, if you do it yourself and don't have a code reader, you may need to find someone to clear the codes when done if they remain.

 

It is usually about $100. a wheel in labor at a local garage with a dealership wanting more.

 

Try replacing your wheel bearing and hub assembly I had this issue and that's what fixed mine