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Check the transmission fluid level. There is a dipstick ( typically a yellow or red handle) at the back of the motor - I think it may be on the driver side of the motor. Start the motor and check the fluid. DO NOT TRY TO DRIVE THE TRUCK!! low fluid can burn up the transmission. the dipstick will have the exact fluid type needed imprinted on it. add fluid with motor off, 1 quart at a time, and start the truck and let it run for a few minutes while you shift from park, reverse, neutral, and drive, back to park for 30 seconds per position before checking again until the level is between the add and full marks on the stick.
Any DOT3 fluid is fine. If its low enough to turn the light on, brake service may be needed. Its engineered so that the brake fluid level will go down until the light comes on, then its time for brake service. So if you fill it up, the light will never come on and the brakes will be worn past the limits without any warning.
Ok, check the brake fluid level for a start. This could mean a few things. Your brake pads might be worn down, which would bring a yellow warning light on(triangle), at the same time with the pads being low it will have displaced the fluid, making the level low, this would be a red light on. Now because of this the body control module has detected these faults, will have turned the abs off, hence the abs light.
If brake fluid is low, this could confirm my theory.
If its low, top up with dot 5 brake fluid and take to garage to have new pads fitted.