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Did a search...nothing that helped....or I missed it.
When the '93 5.0 auto Bronco is first started in the morning, I get an ABS light most of the time. Randomly thru the day, it my stay on or it may not with each start. The later in the day of driving/starting, I am likely to NOT going to get the light. Check engine light is on due to being lazy and not solving EGR issue so it is no help.
Brakes work great all the time.
What is the best way to test the sensors? Will a code reader tell me which one is bad?
I've got a '90 Bronco 5.0 auto that had a similar problem - turned out to be a worn ignition switch that didn't fully return the switch to the run position after start/crank.
Quick test for this issue - start the truck and if the ABS light stays on, just put a little back pressure on the key and see if the light goes out.
My 95 5.8 had the same issue finally stayed on. Found out brakes would lock up in the snow lol, was taught to pump the brakes when I would drive with my uncle in his old 88' f250. Doesnt bother me to much but would be nice to fix the issue.