I have this same problem with my 2001 Chevy Silverado 2500HD. I found a recall on a website that said there were 1,353,718 other trucks with this same problem (no, that's not a typo). Do not ask the people at Chevy to uphold to this recall because I was turned down when I informed them about the problem. Anyway, the explanation for the problem is the wheel speed sensor mounting surface has rust and corrosion (especially in areas who have roads that get salted a lot) on it that moves the actual wheel speed sensor away, creating the thought of an icy condition. If you or a mechanic has the area cleaned, the sensor will go back to its original position, thus fixing the problem.
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I have this same problem with my 2001 Chevy Silverado 2500HD. There was a recall in regards to this problem. I contacted the Chevy 1-800 number and I was told that they would not fix the problem anyway. If you explain this to a knowledgeable mechanic, he will probably know the problem. This is usually a problem with the Chevy S-10's.
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