Abs
I am new at this but here it goes. I was just getting ready to ask for help on the same situation. I just put all new pads on my 05 F250. I had to replace the rear left caliper also. The same thing happened to me this weekend. Driving 70 mph and the cruise kicks off and the abs light comes on. Never had this happen before.
I would suspect the VSS first. The VSS is the speed sensor on the pumpkin and it provides the speedo and abs information. When it acts up, it's possible to kick out the cruise and would definitely light the ABS warning.


