I used to have this same problem on a Ford chassis I had. Look on the differential and you should see a sensor with a rubber cap over the terminals. If that sensor goes bad, the system gives an error. Safe to drive, just no ABS. Sensor costs about ten bucks, five minutes to replace.
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2015 Legacy SR340 360RB with 2014 Wrangler Unlimited Toad
Gigi, Poppy and Sadie the Jack Russell (all 14 lbs of her)
2015 Legacy SR340 360RB
2014 Jeep Wrangler Unlimited Toad
Gigi, Poppy and Sadie Lady...On the road, but not full time!