Start with the simple and check your brake fluid level, also have the Sierra scanned for the DTC codes that is causing your ABS light to come on. It could be a simple ABS sensor going bad to the ABS module going bad.
When this happened on my 2000 sierra 1500 it was the wheel bearings. I had been told that the lights turning on like that are a sign of the wheel bearings going bad. I replaced both front wheel bearings a few weeks ago and all lights are out now.