Recently my ASR/ABS light came on.

I have read the forums and have replaced the battery, the brake light switch twice, and cleaned the wheel sensors. I also replaced the high mounted brake light bulb.

The ASR/ABS light comes on primarily after cruise control has been angaged.

The ASR/ABS light also has begun coming on at speeds below 55 mph but does not come on at intersate speeds even when the cruise control is not on.

The ASR/ABD light goes out after the car is stopped and started.

The car does not go into limp home mode but runs fine. Also, the cruise and everything else works fine except for the steering becming very heavy when the ASR/ABS light comes on.

Both throttle actuators and the wiring harness was replaced about three years ago.

Any suggestions?