jack the pass side up, leave the wheel on, and push and pull the tire softly to see if you have a lot of movement, anything more that a 1/8 of a inch movement and the hub is bad, that would also make the abs light come on.
bad connections or bad wires can also make the abs light come on so while your there clean and put a small dab of di electrical grease on the plug end and work the plug off and on a few times to work the grease in. also check the hub sensor wire harness along the lca's. they get damaged or break, or loose insulation and go bad.
