Most likely it is the ABS wheel speed sensors. Easy fix, maybe $40-$50 each... one at each wheel. Make sure to spin wheel after installation to make sure the sensor doesn't drag or scrape anything.
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1998 Ford Windstar GL 3.8L 253,100 miles
2005 Toyota Prius Package 6 1.5L 135,000 miles
2006 Toyota Sienna LE 3.3L 36,000 miles
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