The switches that control the lights for open doors are made right into the door latches and they have a history of sticking and causing problems like that.
Here is a technique that often works well and eliminates the problem at no cost.
Get a can of spray lube like WD40 or something like it and has a straw on the nozzle. Spray it generously up into the latch mechanism. Now open and close the door numerous times to work it in. Repeat this process several times. Since you don't really know which door is causing the problem, you should do all of them. It's usually caused by the most frequently used door but it's not guaranteed to be that one.
As far as your ABS light is concerned, the previous expert has advised you correctly. One thing I would like to add is that they have an extremely high failure rate on the rear speed sensor in the top of the differential. I don't recommend throwing parts at anything but it may be worth a try.
Wednesday, February 2nd, 2011 AT 12:24 AM