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I share this in the event that it may help someone else.
Been having a random ABS light showing up in the past few months. Generally, shutting down the engine and restarting would resolve it, but not always. I replaced the rear VSS and it made no difference.
Finally got under the truck yesterday and tracked it down to a stripped bolt on the DS front wheel sensor. It was holding firm enough to not allow the sensor to back out, but was also loose enough to where a road bump could cause it to move enough to set the light.
The saga is not yet over, though, because I snapped off my tap while trying to prep for a helicoil insert (working from under the truck with the wheel in place). Will now have to make some room in the garage to get the truck up and remove the wheel so I can work "in the open" to drill and tap a new hole for the mounting bolt.