Typically, the best way to diagnose the ABS braking system is getting it scanned with a scanner capable of detecting GM CHASSIS/ABS DTC error codes. Like mentioned above it could be any hub/bearing/wheel sensor or problem with the ABS motor/modulator, EBCTM control module or associated wiring.
__________________
'08 Pontiac Grand Prix GXP (Dark Slate Metallic) - LS4 5.3L V8
'08 Pontiac Grand Prix GXP (Liquid Silver Metallic) - LS4 5.3L V8
'02 Oldsmobile Alero GL2 - LA1 3400 V6
'99 Buick Regal LS - L36 Series II 3800 V6
'03 Honda CR250R MX - 2 Stroke 250cc '97 Pontiac Grand Prix GTP - L67 Series II 3800 V6 Supercharged Timeslip 08/12/06
Most likely a wheel sensor. Check that all 4 are plugged in properly. It is an easy DIY to check the wheel sensors. Using an ohm meter check the resistance of each wheel sensor. They should measure around 1k ohms, give or take.