2016 Kia Sorento ABS intermittently activating no codes

Fountaininnservice

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hi, I have a 2016 Kia Sorento sometimes the abs activates for no reason. Sometimes it will continue to stay activated as I drive. The first time I scanned it it had C1213-02 in the memory. I had to clear the code in order to get the abs working to diognose the issue. I've driven it several times to see if that code comes back, the code came back once from several road tests now No codes at all. For one on the data stream I see the front abs sensors read 3 to 4 mph less then the rear sensors, I don't know if that is a problem, also when the problem is uccurring the inlet valves are staying on then turn off when the problem stops.
 
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