Have you tried adjusting the emergency/parking brake? If that doesnt fix it, the problem is most likely just a sensor.
There are 3 ABS sensors on your truck. There is 1 near each front tire and there is another in the rear differential.
I highly doubt that the cruise control has anything to do with it.
'99 Ford F-150 regular cab longbed XLT 4x4 with 5.4L V8 and 4x4 Off-Road Package
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