Just got back from the dealer and that special jumper harness I mentioned before is what mine needs.
There is a copper wire that runs thru the harness to the sensors and it was broken. The reason the lights come on intermittently is due to when the suspension is flexing it causes the broken wire to short or connect/disconnect. That is what throws the lights on and off. $356 to replace both of the front wiring harnesses that go to each hub. Has to be soldered so I just decided to bite it off and not attempt something like that myself. They said that when the lights are on, no ABS. When they are off, ABS. He said both sides looked pretty bad so I told him to go for it. Man!
Oh well, you just can't put gas in 'em and drive 'em. Beats the heck out of a monthly car payment!