A little while back the ABS and Brake lights lit up on the dash. Truck has no issue with braking that I can tell. The pedal still has good pressure. The brake fluid is still at a good level. Sometimes the lights will not come on until I'm driving and I hit a good bump. Brake pads still have good life to them. Not sure what to do from here. Any help would be appreciated.

 

My 99 did that also. It was recommended to clean the sensors. I did that with no help. I replaced the sensors with no help. I didn't want to replace the ABS unit because of cost, so I just lived with it. Mine only did it occasionally, it wasn't that bad.