04 4runner ABS light, buzzer in mornings

My ABS light and buzzer have gone off the last two mornings, accompanied by a rythmic sound -- best way I can describe is a sort of whoosh-whoosh noise -- coming from somewhere beneath the vehicle. This happens whether it is in park or driving. The light/buzzer/noise went away after a short drive, but I'm concerned. Maybe something sticking? Or???
 
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