ABS Brakes in red text came on then 2 days later Brake Light in yellow text

You need to pull the codes to see exactly what is wrong. Check online to see what the colored text means...

The most common failure with most ABS systems are wheel speed sensors but as Hal said you would need to retrieve codes before jumping to any conclusions or just testing each sensor for continuity and or output pattern. The yellow script may be a failed bulb. Check the brake lights and brake fluid level first.

As Patrick said "Check bulbs and brake fluid level." Rob Betts www.aerboise.com 7736 Lemhi Street Boise ID 83709