I have a 2002 Ford Escape 2WD V6. EAch time when first moving from parked, the ABS system kicks in and modulates the brakes. This happens once or twice, then the ABS light comes on, the ABS quits modulating the brakes and the car brakes normally. It is as if the ABS system thinks it needs to operate and does so for a couple of cycles, then gives up, lights the light and (I assume) turns off the ABS and works without it. Any ideas what this could be and how to troubleshoot the system?