Could be a faulty sensor... but my 05 has the same issue, only when trudging through lots of snow of course, happened tonight actually. With this issue, the lights (ABS/Trac Control/OD) usually go off after I restart the car. So it's typically more of an inconvenience/annoyance than anything. Hopefully your sensors are ok. Like Daniel said, I'd run an diagnostic scan.
'14 Escape 2.0t
2012 5dr Ti : Traded
2012 5dr Ti : Traded