Okay,
So you have the problem where your ABS and TCS lights come on at the same time. At first it seems random, then it happens more and more. Eventually it gets to the point where its on almost all the time and its very annoying and once winter comes your gonna be screwed. Well that sucks.
So what do you do?
Your most likely going to need to change a wheel bearing. They are really the only moving parts in the ABS/TCS systems.
But how do I know which one is bad I don't wanna just replace em all !!
What your gonna need:
-Voltage/Resistance Meter
-Small gator clips with insulation over em (can get this at radioshack)
-Jack
-Tie rod or whatever to take off tires
-Patients/Hope
-Oh and 50-100 bucks for a new bearing
Okay so you gotta jack up your car first. Once you get either the back or front jacked up (doesn't matter which you do first), you are gonna have to take off the tires. Next take your insulated gator clips and put em the wire tabs inside of the connector connected to the bearing. Get the meter connected to the tabs (its a lot easier with two people) and put the meter on the setting that measures resistance. You should get around 1000-1080 ohms. As your rotate the caliper (make sure you put it in neutral to spin the caliper when doing front wheels) you will see the ohm reading change. This reading should be around your original number +/- 50 ish I would say.
Look for any weird changes in the readings. Some will randomly drop down to zero ohms, this would mean that it is a bad bearing. BAM! If you get that reading you know to change that bearing and your problem will most likely be solved.
Now when you put all the stuff together (hopefully you don't have to deal with every seized bolt in the world doing the processes ha) you will turn on the vehicle and take it for a test ride. The light will probably still be on. Turn the car off, turn it back on. Then do it about 5 more times stopping at places as you test drive increasing the speed after each stop. Eventually the ABS sys should reset itself and your good to go
=) Good Luck