I was driving my Expedition on the highway and suddenly got the ABS and brake warning lights on, also the hill descent control fault and service advancetrac warning.
The brakes still seem to be normal.
Coincidentally, the odd thing was that I was driving in auto 4WD and switched to 2WD immediately before all the warning lights came on.
My OBD2 Scanmaster didn't show any codes.
Hope it's safe to drive until I can get to the dealer for service - hope it's not expensive.