C1223 and C0278 intermittently

[Mangis17]

So I've been having my brakes lights come up on my dash everytime I drive, sometimes right when I start the truck and sometimes 5 minutes later while I'm driving, I've changed out the abs solenoids on the passenger side of the engine bay and that didn't change anything. My brakes work just fine any suggestions? I have an 01 4runner

 

[spartacus]

Pull the rear abs sensors and clean. look at the tone ring and check for debris on the tone ring.