I have a 2003 Chevy Tahoe (Z71) with 240k miles on it. I had to rebuild the front brake lines last summer and do a bit additional work on the front line last November. I also have an issue with the ABS where they will kick very rarely when I am going less than 5 mph and creeping up to a stop. I believe this is an issue with a sensor firing in my driver side front tire.
Twice in the past 2 months, out of nowhere the "Service Brakes" has come on with a warning tone. Both times the pressure on the brakes have been fine and they have worked. Both times were while I was moving very slowly/in a parking lot. Both times the warning went away upon restarting the car. Both times when I tried to use a code reader it came back with no issues.
What can I do to figure out why this is happening?