1997 GMC C2500 ABS light

John, this sounds a little strange. By any chance was it raining or did you drive through a deep puddle? If you had the cruise control set, a malfunction in the ABS will drop it out.
As a rule, you can have a complete failure of the ABS system and it won't affect your brakes. ABS is in addition to, not in place of, the brakes. What ever triggered the ABS light will be stored in computer memory. You need to have the ECM scanned and retrieve the code(s). This will help narrow it down. It's probably a bad wheel sensor. Hope this helps.

I'm going to break this down. I think we have 2 different problems here and they're unrelated.
The stalling problem may well be a problem with the idle air control, IAC unit, on the intake/throttle body. It may just have to be removed and cleaned with carb cleaner.
I attached a diagram of your ABS system. I had to post it 1/2 at a time or it would be too small to read.
There are 3 speed sensors on the truck. One on each front wheel, and one on the output shaft of the trans. If any one of these 3 fails for just an instant, the ABS light will come on. 80% of the time it's one of these sensors that's scerwing up.
When you had the codes check at Autozone, did they check the brake section of the ECM, or just the performance section. The reason I ask is, whatever tripped the ABS light should be stored in ECM memory, but in a different section