Just wanted to share my experience with this problem so far...
I had the ABS and skid recovery light come on intermittently at the beginning of the summer. Both times they came on I turned the car off and back on again and the problem was solved. Fast forward a couple months and the same issue starts happening more frequently, often times right as soon as I turn the car on.
Took it into the dealership where they diagnosed and told me my brake lights were non-functional.
Dealership took a week to get the backordered part from Cali and then install. Everything was great until a week after the same lights came up but this time my brake lights were still functional. Hasn't happened again since
Gonna bring it by my independent next time it comes up to scan for codes/check ABS actuator. Fill you guys in when that happens