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Happened on my wife's 96 windstar. Cost me $80 to have the Ford dealer check it and add some brake fluid. Man I was really torqued. I know I paid for an hours labor but it would have been nice if the shop manager had suggested this to begin with. Yes they got my money that time but I've never been back and probably never will.
Just recently the light came on again. Added fluid myself and the light went out. Easy thing to check. BTW the owners manual says another light (not the abs light) will come on when the fluid is low.