how can i pull the abs codes on a 99 cobra?

when driving to work, i take the freeway each day early in the am. when i get to about the same spot, about 10 miles into the drive, my abs light has been coming on for about 5 seconds, then shuts off, then sometimes about 30 seconds later it comes on again and my traction control is off as well, stays on for 30 seconds-2 mins, then shuts off again, and thats the last i see of it. when i go home from work, it does not come on at all.

how can i pull the abs code to see what is wrong? i went to autozone and they said they cant pull it unless the check engine light came on? is that true?

No, its just the abs light, every now and again. We checked all the brakes today, and even at 45,000 miles since i bought the car and never had done the brakes, all of the pads had well over half life left or more compared to ones i bought, so i just returned them. The Abs sensors in the front looked very dirty, as did the notches in the front they read off of, so we cleaned them really good. the back were really clean. when i went to take the brakes back to the store, the abs light came on again. Its like daily, it will come on for about 5 mins or so, then go back out and be fine. Something is not passing a self check, but then when it does it again, it seems to but i dont know what.