Start the car, drive to some grass or sand (pavement is too tough on the steering).
Park the car, crank steering wheel all the way to the left, then all the way to the right then all the way back to the left.

Drive car a short distance. Park car. Turn engine off.
Restart car, drive home.

See if that clears at least one light. And as Dave said, if the ECM sees contradictory input from the wheel speed sensors, it will light the light telling you that ABS is compromised because it can't determine all of the wheel speeds.