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The ABS light comes on when there is a malfuntion in the ABS system, not when the brakes are low. On a Ford you more than likely have a dirty sensor or pick up ring on the back side of the rotor. And no you do not have to change the rear drum brakes when changing your front pads but they should be inspected.
Usually you will change 2-3 sets of front pads before the rears need to be changed.
For some year models of Explorers involved in the Cruise Control recall, there were additional wiring problems caused by the modification of the Cruise Control. These problems included yours and Brake lights working independent of the brakes. Contact a dealer about this SECOND service bulletin.
The above problems are more likely if the 4x4 is showing a light and the vehicle is in 2 wheel drive. The ABS indicator light is usually to be trusted without the Cruise problem. It would not hurt to check the brake pad linings, sometimes the lining shifts and drops down off the metal of the pads. Finally if the ABS light is still showing a problem that you can not find, check the Emergency brake pads inside the rear rotors.
Check to see if your brake pads and rotors are in good condition. Or if you have replaced the pads yourself and have not reset the wheel sensors this would cause the ABS Antilock Brake System light and the ASC Automatic Stability Control light to stay on as the ASC uses the ABS brakes with computer assistance to control the car
you may have to take the rotors back off completely and look for the baby brake shoes behind the rotors because sometimes they will hang up and give you some of the problems you are having
This seems like two different vehicles with two different problems. first the 1997 Ford Explorer- with new rotors and pad. I can almost guaranty that the rotor and pads that were replace are "after market" parts. If it is true,then the brake pad are at fault 95% of the time, the other 5% is the rotor. This because alot of after market parts are alot cheaper and are poorly manufactured out of cheap materials. I would recommendMotor-craft rotors and pads for this vehicle and that would take care of this problem. However if it is original parts on the car the dust shield on the hub may be to blamed, may have gotten bent into rotor during brake job. As far as ABS re-learn braking pattern that all BS that's absolutely 100% NOT TRUE. I am ASE certified in brakes and I never heard of such nonsense. As for the 1999 Explorer this problem is the ABS system applying it self prematurely. The sound that you feel on the pedal is when the ABS is active. Most common reason for this is a bad abs/wheel speed sensor, it could have gotten damaged during the brake job or grease or rust or something is between the sensor and sensor gear/ring. I have seen this many times before, just re-check everything. The abs becomes active because it detects a slip or brakes locking up or in your case maybe a false reading from sensor. Good luck and contact me if you need more help
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