I had it rescanned and there is no code for the ABS; only the O2 sensor.
It did it again on the way back from a wedding and then progressed to squealing and heating up one rotor (Front driver) really badly. Fortunately, it happened about 3 minutes from my house, so I was able to make it home okay. The squealing just kept getting louder and louder though.
I decided to replace the other 3 calipers ( I replaced the rear pass when I did the brake pads bc a slide pin was seized/I stripped the head/had to hacksaw it to get the pads out). That was a little bit of a fiasco; I let the master cylinder run dry, and then tried to bleed it by undoing the brake lines, blocking the outlets, and having the wife pump the pedal gently (alldatadiy procedure)

Well, all I got from that is sprayed in the face with brake fluid...Apparently my wife has a lead foot. Fortunately, my reflexes did their job, and none of the brake fluid got in my eyes. I'd recommend that no one else ever try the alldatadiy method... getting the line closest to the firewall screwed back in is near impossible

...but finally I got it back on.
Got that done, did the brake bleed with my wife, and took the car out for a test drive around town.
Two problems:
1. The pedal feels soft now; seems like the pedal is mush until about halfway down and then the brakes start to work. You never know they're working by how soft the pedal is, but the car slows down.
2. But now, my Rear Pass rotor is smoking hot...literally smoking. I pulled over to the side of the road to get out and check all the rotors, and the grease was cooking out from between the shim plate and the rear pass brake pad...just sizzling...like bacon, but without the yummy smell.
Any ideas what's up with:
a. the soft 1/2 way down before it seems to activate pedal, and
b. the cooking back rotor/caliper/brake pad?