So you are saying that if the code doesn't pop back up immediately after clearing the module might be fine?
The lights indicating the issue don't come on until I drive a ways.
According to the service manual, if the code doesn't pop up when you turn the key to the run position, there may be an intermittent cause for the code.
Here is a generic list of things to check for intermittent codes.
Pick out the items that can apply to the ABS module. Some require the dealer scan tool.
Perform any Technical Service Bulletins (TSBs) that may apply.
Review the scan tool Environmental Data. If possible, try to duplicate the conditions under which the DTC set.
Turn the ignition off.
Visually inspect the related wire harness. Disconnect all the related harness connectors. Look for any chafed, pierced, pinched, partially broken wires and broken, bent, pushed out, or corroded terminals.
Wiggle the wires while checking for shorts and open circuits.
Perform a voltage drop test on the related circuits between the suspected inoperative component and the Anti-Lock Brake System (ABS) Module.
Inspect and clean all PCM, ABS, engine, and chassis grounds that are related to the most current DTC.
If numerous trouble codes were set, use a wire schematic and look for any common ground or supply circuits.
For any Relay DTCs, actuate the Relay with the scan tool and wiggle the related wire harness to try to interrupt the actuation.
Use the scan tool to perform a System Test if one applies to failing component.
A co-pilot, data recorder, or lab scope should be used to help diagnose intermittent conditions.