As many times as I have posted this, you'd almost think that it would be the first thing everyone would check...
The factory clamp on the battery cables is absolute shit.
I know. You're thinking, "WTF does the battery clamp have to do with my ABS light going on and off?"
Just go pull, twist, & wiggle that negative terminal and see if it moves at all.
If so, then you're experiencing the same exact issue that I had on our '15 JKUR.
ABS light coming on randomly while driving.
I needed ZERO parts to fix the issue, I just bent the fingers on the negative clamp so that it gripped the battery post better when tightened.
I know replacing the clamp is the right answer, but I've been indecisive on which replacement I want to go with and my 'fix' has held up fine so far.
After you try this and it doesn't solve the issue, THEN look at wheel speed sensors.