Since the ABS light is coming on after a few stops, I strongly recommend you take it to a shop and read out the codes – that should tell you exactly what’s wrong (or at least point you in the right direction). It’s going to be a lot cheaper in the long run even if you have to pay the shop to read the code vs. throwing money at it by guessing at what parts to replace.
I wouldn’t worry about them having the right equipment – if they have the equipment to work on modern cars they should be able to pull codes out of any module. Let us know what the code is and maybe we can help out.