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Well ya know it might just help to know the year and model you are talking about.
In general if the light comes on only once you start moving it's a wheel speed sensor. Depending on the year it may have rear speed sensors or a sensor in the rear diff only.
The other potential for trouble up front is the lead wire itself, this would be besides what you already looked at. Just examining/cleaning them might not really help anything, just because you did that I still would not rule out a sensor. The relays i believe are all automatically check when the car is started (a self-check), if it were one of these relays I think the light would come on without even moving the car.
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