ABS lights on

I would first check the battery connection I had the same problem on my 2001 grand am and it was the the positive battery conection I have to clean mine about every 2 years.

When i start my 04 grand am ABS, TRAC OFF, SERVICE VEHICLE come on before I even put it in gear. I have a test light and multi meter but not exactly sure what to test

Hello,

Nine times out of ten there is a wheel speed sensor that is not working. here is a video to show how to get the codes using a scanner if you don't have a scanner. Here is a guide to help you test the sensors manually:

https://youtu.be/rTtAnsOlZU4

and

https://www.2carpros.com/articles/abs-wheel-speed-sensor-test

Please run down these guides and report back.