ABS light/Brake Controller error

Had these lights come on yesterday, a few weeks ago I had a small lift put on (6112/5160 + CB shackles). I went over a bumpy intersection with some speed to test out the suspension and these lights came on and freaked me out (also the 4hi/4lo lights flash). Pulled over, turned off ignition, lights went away. Fast forward a week or two later they came on again and won't go away. No noticeable loss of braking, and I've never towed with this truck. Have an appointment at the stealership tomorrow, hopefully it's either covered or not a big deal!

 

Just an update here in case anyone runs into this, dealer diagnosed a passenger rear speed sensor as the problem. They replaced it (covered under extended warranty), said the error message went away but came back on. They determined it was then the wiring harness, not covered by extended warranty, $200 later no more error messages going on a few days now...

 

I had this once, my rear driver wheel bearing was going bad and the speed sensor picked up all the wearing metal and caused all this. New wheel bearing and oil swap and we were good to go.