I don't know why the advance trac would be on. I feel that is a different issue from the ABS. On the ABS side one of your sensors is bad or you have a bearing that is going bad and ruined one of your sensors. The ABS sensor is on all four wheels and can easily be identified and changed out. It will be right on the hub (screwed to it on the outside of it) with a 2 or 3 foot lead that plugs in behind the splash guard on the wheel well.
Have the codes read. Transmission problems will cause all this in most newer vehicles. Year make and model really helps.
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