There is a good chance that the problem is in the wiring, and there is nothing wrong with the wheel speed sensors. I have seen it before on other vehicles.
For all you know, you hit something on the highway, and slightly damaged one of the wires coming from the wheel speed sensors. This can cause intermitten problems. If the computer is not getting a reading from all the sensors, it will disarm the ABS, and any other function that it uses wheel speed to assess. On my truck, it would not allow it to engage in 4 wheel drive. After them changing the sensors, they eventually changed all the wiring harnesses, and the problem was corrected. This may not be the same problem as yours, but the symptoms sound very similar.
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2000 coachmen santara 370 5.9 cummins isb
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