Brake Abs Warning Light problems of the 1999 Dodge Ram 1500

I had just purchased my Dodge Ram 1500 @56000 mi used and 2 months later the abs-light and the brake light came on I have taken it to be diagnosed and it came up a 72i was told it needed the cab module sensor replaced so we called the local dealer who says such part is about $315 so of course it will have to wait but the mechanic who diagnosed the lights said he had seen 2 or 3 same year trucks with their lights on also although they weren't there to get that problem fixed he had noticed that also so I was wondering before it becomes an accident waiting to happen if this is a recall situation or if anyone else has had the same problem I've had ,,,thank you.

I have had 4 sets of front brakes and 3 sets of rear brakes on this truck. I have replace the calipers and rotors twice. Truck only has 64k miles on it and now it pulls to the left and the abs lights are now on. On one occasion the truck pulled so hard to the left I wound up in the other lane forcing the person in that lane to move to the shoulder of the freeway. I then took it up to Dodge and once again they said the calipers were sticking and recommended replacing them. I had and extended warranty on the truck that was sold to me by Dodge, and they refused to pay for it because they thought there was nothing wrong with the brakes. I truly should have pursued the lemon law with this 99 ram. Does anybody know what the problem with these brakes are?.