I'd be checking for poor connections at the wheel , speed sensors.
Control module runs a check on the sensors every start up, and leaves the light on ;if the sensors don't pass their tests; after the RV is moved the connection has changed enough to pass the check.
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99DSDP 3884, Freightliner, XC, CAT 3126B, 300 HP /ALLISON 3060
2000 Caravan toad, Remco & Blue Ox.
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