Car started bucking ABS light came on took it to shop car ran fine no light on when he checked it since then it has come on 4 times but car runs fine and when I shut car off it does not come back on next time I start it one day I drove it 350 miles and it never came back on next day after 4 miles it popped on any ideas? Pedal has felt a bit soft for about two weeks before it happened and it feels soft when it is on but normal fluid is full