95 C220 Intermittent ABS Light
 

I have a 95 c220 with 120000 miles. Intermittently, the ABS light will stay on after starting. It will occur for 3-5 starts then go away for a while. The battery is new and there are no detectable power issues. The ABS seems to be functioning. I am suspecting that the speed sensor or ABS relay may need to be replaced. Anyone have any advice or thoughts about my suspicions before I take it to the shop? I don't want to get hit for a $1200 ABS controller if the solution is something cheaper and simpler. Thanks for any advice that you can offer!