Because it's intermittenent, it could definitely be electrical, or a failing ABS module (somewhat common), or like you say, a wheel sensor (or it's wiring).
As a first course of action, I'd try to rule out simple and common electrical issues. 1) Check that the fuses are all pushed down tight, and wiggle them, ensure none are blown. F06 & F76
HERE should be the ABS fuses (green & Red fuses??). Take them out and inspect. Test and maybe swap with another same style fuses, just for the heck of it. And I'd probably 2) tap on each relay with a screwdriver handle a couple times..not real hard ..though. Then I'd 3) check/wiggle the wire connector at the ABS unit (for corrosion, etc). Then I'd for sure 4) Recommend cleaning the battery terminals and make sure the grounds to the Engine/Frame/Body are all good. At least losen the Gnd bolts a little and re-tighten. Electrical path is SO important on modern vehicles. If the chips/circuits in electrical modules don't get the voltage they are designed for, it causes things to go haywire. That's why they have grounds all over the place on these trucks. So... definitely rule out bad/inconsistent voltage. If you get lucky that might solve your problem.
On my truck there are two major ground points. 1) Behind a plastic door above the F/L tire. Mine was pretty rusty believe it or not...and my truck is clean. #2) Another major ground point on the backside of the filler tube/gas tank area. Several ground cables on both those regions.
It may or may not be your issue, but it would be a good thing I'd want to rule out. Esp if you live in a rusty area. But also even if you don't. It could also be a failing module, which is real common on early tks (2013 was when they introduced a lot of new electronics), so you definitely want to ensure the connector is clean and all is good at least up to the point of the module, as best you can so you don't end up forking out a lot of money for a module when it was really just bad grounds or a corroded connector.
Second thing, if you haven't done it, would be to go to like Autozone or OReilly Auto, and get a free scan done on your vehicle. See if there's a Code that tells you anything else, like a certain sensor not working. That might give you a place to target too. Wheel sensor connectors and the wires are pretty hearty, but sometimes they can go bad too. So inspect the sensor wiring/connectors.
So, in summary take a few minutes and rule out electrical issues. Esp on a 2013.
Let us know what you come up with...
