ABS System Malfunction

Had this warning pop up on the dash this morning. I backed the truck out of the garage onto the driveway, shut it off, ran inside and when I came back out and backed out of the drive the truck lit up like a Christmas tree. I shut the truck off and turned it back on and it was fine. Maybe a little slick out this morning and I do have a steep driveway. Any experience with this? Just third gen things...

EDIT: Had the truck about 2 weeks

 

I had a similar issue. When I took it to the dealership they mentioned they'd seen it from brake switch issues. In my situation the wheel speed sensor line had been cut (either when I hit a deer, or when the repair shop did the repairs)

 

I'll keep an eye on it. I tried to replicate it again and I couldn't but I have an appointment at the dealership to have a couple things installed so I'll mention it to them.