It might be a good idea to scan for ABS codes again. When they reset everything, it is possible that some of the codes could be resolved.
From the sound of it this could be a wiring issue or an issue with the ABS module.
There was also a service bulletin for this vehicle due to issues with the rear ABS sensors. It was for the seal that goes over the sensor, which leaked and allowed water to enter and corrode the connectors.
Images (Click to enlarge)
Tuesday, November 9th, 2021 AT 12:40 PM