Odd ball like that happened to mine about a week before total failure, ABS came on, I checked it all out sensor read ok with meter noting seemed odd about the wheel though it did have a change in vibes that cleard up when I increased speed through 65 mph to cruise speed of 75, I couldn't figure out what was going but the week later I turned a corner at 25 mph thankfully; and the pass front wheel turned 90 degrees from direction of travel and the axle nut had popped off, tucking wheel up & into the wheel well.
I thought this was pertinent to the OBS trucks, the repair shop said common enough for him to see it happen multiple times over the years bearing starts to go fuzzes up the ABS magnetic sensor. Jack that front end up and give it a thorough inspection