According to my mechanic, the sensor failure caused the ABS and 4WD lights to come on. The sensor was damaged by the drive shaft to the wheel. Once the sensor is damaged the pressure applied by the brake system is inconsistent. In one day both my front rotors were warped. I had to replace two rotors, brake pads, sensors and get another part on the drive shaft that did not cause the sensor to break.
After hearing all this, I looked into Ford Escape brake problems. Seems like they can go out at any time and come back on without a cause???? Many people are writing about near acciddents, accidents and Ford's refusal to do anything about this very dangerous brake issue.