Howdy yall, the past couple of months my ABS light has been coming on randomly. It comes on after several minutes (or hours sometimes) of driving then stays on. I wrote it off as a bad sensor but now, even when under light braking, if I hit even a small bump in the road, I can feel the ABS activating in the pedal. Seems like more than a sensor to me. I know I have a front wheel bearing going out but how would that be related?

2007 F150 5.4 2wd

 

Anybody have any ideas?