Have just encountered the same ASR-ABS problem noted by Mark, except that the problem has progressed such that on some days, the light is on all the time, while on others, it is off. Interestingly, when the lights are on (they are always paired), the car does NOT enter limp mode, which has underscored the merits of a defeated ASR...
Took the car to an authorized dealer. It is not the wiring harness. They changed a switch (neutral switch? Can't recall the name of it), but that didn't work, and apparently the sensors are OK. They still can't find the problem but would like to change-out the pump controller for an obscene amount!!!
Any thoughts on this?