ABS and advance-track lights lit up on dash

So four weeks ago I was driving my vehicle and my ABS light and advance-track light lit up on the dash, and every few seconds the four wheel drive high light on the dash would intermittently go on and off, though I do not believe four wheel drive high actually kicked in. The next day it did the same thing on my way to work but I got there just fine. On my way home, though, I did not drive even.25 miles from work and it felt like my brakes were locking up. I called my dad and he drove it home while I drove his car home and he said he thought the brakes were locking up on him, but kept going and we got it home. Finally, today, we put new pads on the front passenger side because it looked like the back pad was worn a little differently than the front pad. I took it for a little drive up and down my street and the lights on the dash are still on, but the brakes work fine and they did not lock up. I am wondering if maybe there is a blown sensor I need to replace, and if there is, which one and where on the vehicle is it and is it an easy fix to do myself?

On a side note, for a few months now, I have been hearing this loud humming noise that appears to be coming from my front driver side wheel. I think the bearing might be going on it. Can someone confirm if that is what that noise is? And if it is, I think I will need to take it to a shop to fix it because I believe I need a special tool to remove and replace it.

Any and all advice on both issues will be greatly appreciated. Thanks in advance.