Last winter I was driving through a foot of wet fluffy snow for 50 miles. In 4x4, and snow was coming over the hood occasionally. My ABS light came on. I thawed out the truck in a heated shop for a couple days and light was gone. Now, the light comes back on intermittently. Just yesterday it came on while driving down the freeway. Once I shut off the truck, the light never came back on. But it does this behaviour every couple months. Any ideas?

Its an ‘07 5.4 S/Crew

 

Use a OBD2 scanner to see what code pops up. If the abs light comes on there should be a dtc for it.
you will need a mid grade scanner not a bare minimum one.

Perhaps one of the parts places like AutoZone can runs a scan for you if you don't have one.

It could be something as simple as an intermittent wheel speed sensor problem, or as bad as a abs module error.

One thing to try lacking any data is unplugging the abs module and spraying contact cleaner in the connector to clean out any possible.corrosion.