I have a FD with ABS issue the ABS light stays on. Some times it's off for a minute or so in the morning and turns off when you back up. At this point it is very dangerous to drive with this issue it has locked up twice on me. The issue seems to be coming from the right rear passenger tire. I am going to try to clean the sensor's and I have already rotated the tires Any info would be appreciated.

 

You have a bad ABS sensor somewhere. The FSM tells you how to test each one with a multimeter.