ABS, CEL, Traction light but only in Reverse!

I drove my wife's car over the weekend and got the CEL, ABS light and the traction light coming on while I was backing out of the driveway. Made a few stops and they didn't come back on after restarting the car. My guess is an ABS sensor is dirty or going bad. But I thought the ABS sensors either work or they don't with no in between. My wife then told me it has been doing it for "awhile" with no real time frame as to how long:banghead:. Any suggestions or is my hunch right?

Also check the sensor wiring. That might be your issue.

Speed Sensor that is built onto the hub, pull the hub and clean the contacts on the female and male ends of the plug, they get dirty with brake shavings and cause this issue, if you need new ones they are about a 100 for each at oreillys and carry a better warranty than the dealer

I would just disconnect each wheel speed sensor connector and clean them with small wire brush. Had similar problem when shifting from park to drive. After cleaning connector never had problem again.