Every morning I get in my 1998 Dodge Dakota, 3.9L, Auto tran. 2WD,
start it up and drive approximately 7 miles.  I then park it, where it
sits for approximately one hour.  I then start it for the return trip.
When I start it this second time, without fail the brake and ABS
lights will remain on.  This has been going on for better than a year.
The speedometer works fine as does the cruise control.  So do the
brakes.

If I start it later in the day, if it has been idle for three or four
hours, the lights go off.  If it has been a shorter time, they may or
may not remain on.

I changed the differential speed sensor about a 18 months ago when the
lights came on, stayed on and the speedometer started to fluctuate.
At the time, I got an OBDII scan done at the place that does my brakes
and they came up with no fault codes, however, advised that I probably
would solve the problem by changing the sensor.  It did for about six
months, then this (described above) started happening.  

Any one got a clue?

Frank