95 Transport ABS Light

The ABS light usually comes on when cold starting the vehicle. It will go off and not return if the engine is stopped and restarted immediately. Little annoying but nothing seems to be wrong. All pads, shoes drum and rotors are in like new condition and braking is functioning normally.

Anyone experience this or have an idea what might be causing this odd behavior?

Possibly failing ABS sensor at wheel or connection. Check obd codes.