ABS and brake lights are on

Have you read and recorded the diagnostic fault codes? Your title says, "ABS and brake lights are on". Is that the red "brake" warning light or the three rear brake lights? If the red "brake" warning light is on, that must be addressed first. The ABS computer will see that and think the cause might prevent it from doing its job, so it turns the ABS system off, and turns the yellow light on to tell you.

You know all the wheel speed sensors did not fail at the same time. What led you to suspect them? What else have you checked, and what were the results?