I also had a similar experience when I did my ebrake pads, think I might've gotten pb blaster or brake clean on the abs sensor. The lights came on the first time I drove the truck after I did the work and went off the same day with me doing nothing.So I have had those lights come before also. Last time was 2yrs ago, took to dealer and they said both front hub bearing were bad sounded about right considering the noise I was hearing when going around corners. Replaced those no more lights. New hubs have new wheel sensors. Then last week all three lights came back on. I had bought new e-brake shoes due to reading about them coming apart so why not go ahead and change them before they do. Replaced e brake shoes still had lights. I did notice rear pads were getting a little low. Checked brake fluid, it was like a hair low below max line. Topped off fluid and a day later no more lights.