Before checking the ABS sensors, check the code that set off the lights in the first place. My ABS/ASR lights came on and cruise quit, just like yours, due to a faulty brake light switch on the brake pedal. I'm sure there are other triggers as well. Get a code reader or take it to a tech.
Mark, Susan and Barney the SheltiePoo
2014 Solera 24R
Wrangler Toad with NSA Ready Brake