[JFP in PA]

The "ghost" MIL ABS light that sometimes comes on when alternators or batteries are dying is just that, a false MIL that does not show any other symptoms. Your car sounds more like it is a real issue, possibly a wheel speed sensor.

Get the car scanned with a PIWIS or Durametric system, which will give you a read out of what is up, and in the future, do not clear any codes until they have all been read and recorded.