I posted up last week that the ABS/BRAKE light was on. I noticed now after driving the car a little more,if I back up for 10-20 feet before taking off, the ABS/BRAKE light never lights. If I dont, and just drive forward, it comes on after a few minutes of driving.

 

reverse thing is strange, sounds like a wheel sensor is failing or wire to one is. harnesses on front wheel sensors are known for failing.