Abs light stays on
take it to a auto part store have them check for codes. that will give you a place to start you might have a bad sensor on one of your wheels
But most generic code scanners won't read ABS codes. I agree it's probably a ABS wheel sensor issue, you need to code to determine which sensor out of 4 it is. There is one on each wheel.
Some cheap and out dated scanners will not read them the autozone I go to have read them for me and gave me a print out of the codes
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