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Possibly has a bad wheel speed sensor or has a problem with the ABS control module and/or pump. Need to have the ABS codes pulled by a service center. Also, some auto parts stores can pull codes and may be able to pull ABS codes.
Normally I would say check the turn signal switch, but you may have water in a wiring connector or a ground problem somewhere in the back of the truck. The brake light and turn signal circuits go thru the turn signal switch before getting to the light bulbs.
I replaced the hub bearing assembly on drivers side twice and the light stayed on and the brakes worked fine. It was the wires (visible just above the tire on the frame) that rubbed against the frame that had shorted out. It was simply repaired and clip-stripped up out of the way. The light has been off every since then.
If anyone else has this problem it is the break light switch it is a gray and white box about 1/2 inch think and 1 1/2 inch long up and to the right of your break pedal. some wires come out of it in the back. it may be on the other side of your alarm box which is like almost next to your break. wiggle it around, this should loosen it up.
same thing happened to us. My wife came home and said the rear brake lights were stuck on so I assumed it was the brake switch...not so. Took car for a ride and noticed rear wiper did not work and when I hit the brake the rear hatched opened and door locks blew out. I started by looking at the wires in the gromet above the hatch and found almost all the wires were bare. Therefore power was jumping the bare wires and traveling back down the third break light and to the rear brake lights and visa versa.. a very dangerous situation. The best that I can tell is the wires are so short in length that they pull and chafe every time you open and close the hatch...very poor design... Note: we bought our vehicle brand new and some of the wires had electrical tape on them....seems mickey moused.