ASR and ABS lights on randomly

I have a 95 wagon and the ASR and ABS warning lights both come on and stay on ocassionally when I start up the car. Maybe every 5th time I start it up. I can shut off the key and restart it and it usually goes away. I know that when the lights are on, those systems are not working. I've had the dealer look into it, but they could not solve it. Any ideas?

TIA - H