Question about ABS/AdvanceTrac??? Please Help!?

I have a 2006 Ford Expedition 4x4 Kind Ranch. This morning I go to take of like normal and the ABS and AdvanceTrac come on all by themselves. It at one point (when I first went to take off) did not want to go; it felt like I was in neutral. I have read it could be a bad sensor and I just need to disconnect or lube... show more I have a 2006 Ford Expedition 4x4 Kind Ranch. This morning I go to take of like normal and the ABS and AdvanceTrac come on all by themselves. It at one point (when I first went to take off) did not want to go; it felt like I was in neutral. I have read it could be a bad sensor and I just need to disconnect or lube the things up (don't know the word). However, I heard it could be the tires and I need new ones.

Any one have this problem or any advice for me... Thanks!
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