I did some searches about the ABS light coming on, and I probably have a bad sensor somewhere. My question is, is why would the brake pedal feel weird and make noises when I use it before the light goes on, and when the light finally triggers, the pedal feels normal, just with out Abs help?

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1984 300SD Orient Red/ Palomino
1989 560SEC
2016 Mazda 6 6 speed manual
1995 Ford F-150 reg cab 4.9 5speed manual