My 2002 IS300 is doing a similar thing. Trac light is on and abs light is flashing. I pulled the front wheel speed sensors today and other than grease I didn't see anything obvious. I also have a knock or click after I back up and brake then pull forward. seems to go away after I brake forward nice and hard. I thought the 2 things might be related but unfortunately the brakes pads weren't loose and there doesn't seem to be any slop in the pad location. So I am guessing the 2 problems are not related. The knock must be a worn bushing.
Anyhow, I will go by Autozone and have the codes read. Will they be able to identify, which sensor is bad or just give a speed sensor fault?
As for the knock if you have any ideas I would be glad to listen.
