Hey nice to see you back again!

This is just a shot in the dark, but you might want to check the ABS sensor that goes on the rear diff. If I remember correctly it's on the top of the diff. It is a magnetic sensor (hall-effect I believe) and it will sometimes get enough metal dust stuck to it to make it get a false reading. My 96 Sportage got this problem once every couple years, I would pull the sensor and clean off the shavings then it was fine. I probably should have changed the diff gear oil too if it had shavings lol... but that Sportage is gone now.

Anyway it's just an idea you could check, also my 96 only had rear-wheel ABS so if yours has all 4 wheel ABS you might have the same type of sensor on the front diff, or they might be in totally different locations etc.