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The battery and alternator does not have any link with the ABS and so the case of the ABS indication coming up while it is started can be also due to the brake pressure not build up as the pedal is OFF. So try putting your foot on the brake and start. If not the unit is malfunctioning, or if there is a sensor fault in the wheels.
p0133 is for the oxygen sensor. It is a slow response. You most likely have a "heated" sensor and it isn't heating up fast enough. This is for the Bank 1, Sensor 1. That means that it is the one in the exhuast BEFORE the catalytic convertor on the back side of the engine ( cylinders 1-3-5)
The engine plenum will have to be removed. This is what the air goes thru to get to the engine intake. Remove ground, mark tag remove required cable, wires and hoses, take digital photos as you go. Be patient. The good news is we don't have to change them every 20K miles.
Take the Voyager by Autozone or Advance Auto and ask them to check the fault codes for free. This may tell you what is wrong. It sounds like you have some sensors or EFI problem.
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