Is the ABS light and/or BRAKE light illuminated? I assume there's no check engine light? If yes on ABS or BRAKE, you could check the brake system for any issues: brake fluid low, pads worn, loose sensor, etc. If it's just the indicators you listed, it might just be some wacky issue with the computer or a reset that didn't quite happen correctly.
If the brake system seems fine, you could just pull the negative terminal on the battery for a couple minutes, then hook it back up and see if the computer resets itself. Problem might go away and never be seen again. If it comes back, then the visit to the dealer makes sense.
1976 FJ40 - green and mostly stock
1996 FZJ80 - not so stock