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yes it is safe -your brakes will work normally only difference u will see is if u hit[stomp] on the brake hard will cause wheels to lock up[skid] check the sensors wiring ,connections and connection to clips the sensor is incorporated into the wheel hub but the wiring and clips connections are exposed which can get damaged or hit by road debris -if u remove the wheel will see wire running into back of rotor --to replace will have to replace the whole hub[wheel bearing] average price about $80 for part if diy
those lights will come on to make u aware that ecm has detected problems in abs and engine system,ecm has stored codes that will have to be read with an obd2 scan tool,codes will point to problem areas to check and repair!