You've got a bad wheel speed sensor or corresponding tone ring. take it to a dealer. they'll hook it up to a computer and tell you which sensor or tone ring it is and give you an estimate. you only pay for the hour of diag.
Known as the Three Amigos, it can suggest several things.
1) Faulty ABS Sensor
2) Faulty Shuttlevalve switch/sensor
3) Wheel bearing faulty.
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