Don,
We had an intermittent ABS/ATC light, the culprit turned out to be a dirty ABS test button. The ABS test button is under the removable dash cover next to the J1939 data port (see Section 9, page 277 in your owner’s manual). You could ‘feel’ that the test button was gritty when pressed, I cleaned it with tuner cleaner, no more ABS light issue.
-Scott