ABS/VSC/VTRAC Light

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So I went back over the brake pad install and it all seems to be ok. I was going to try to pull the ABS sensors out and clean them but they are really stuck and after reading about how they fall apart easily decided to wait until I can afford new ones before I go there. It hasn't tripped the brakes for a while and the lights come and go so I have been driving it. I need to do an 8 hour drive next week. Think I'll be ok?

OK so I just drove over 1000 miles to New York and back and never has an issue with the brakes. The only time the lights even came on was when I was driving through a puddle about two feet deep and a big wave splashed over us. Awesome! I got it home and the ABS kicked in when I went over a speed bump at the mall. The warning lights come and go and the brakes still sometimes come on by themselves with a rumble and then go off again. Before my trip they came on pulling out from a red light and wouldn't let go for a minute or so. Fun fun fun! Any opinions are welcome!
 
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