Almost every time I tow my trailer, at some point the ABS light will come on and it kicks out the cruise control. Everything seems to be working correctly. The light will then clear itself after a few days. It has yet to come on during normal non-towing driving.
Any suggestions on stuff to check before going through the hassle of taking the truck in to a dealer?

 

How's the brake fluid?

 

fluid is good.

 

Strange, you don't get a TBC Fault?

Any way to check the DTC's?

I get the TBC Fault but now DTC with it.

 

Notice the speedo acting funny? If the rear speed sensor goes (common) it will cause the ABS light to go on and will cause the cruise control to disengage because in order for those 2 to work it needs to have a speed input. Pull the sensor and check for excessive filing buildup on the magnet or for any contact it may have had with the tone ring.