ABS/slip indicator light and not shifting into gear.

I have a 2009 double cab TRD sport 2wd. The past 2 days when i get in my truck and started it the ABS light and slip indicator light would come on and i wouldn't be able to take my truck out of park until after 10 or 15 seconds of just sitting there the light would go off and then id be able to shift it out of park. Usually while i was driving it wouldn't come on again except one time it did but then it shut off again after about 10 seconds. Also i can never replicate it. It just does it randomly but it seems to only happen when the truck has been sitting for awhile (maybe 2-3 hours or more). I've already searched some threads about it and my brake fluid level is good and is actually a hair above the max line. The ABS connections on all the hubs are solid and snug and i couldn't find any cuts in the wires. All the threads i have found also don't have the issue of the truck not shifting out of park. Its almost as if the truck doesn't even recognize my foot is on the brake. anything would help thanks guys.

EDIT: My truck is lifted with new spindles and new leafs and billies all around and i also had SS brake lines put in so the brake system was flushed during that process but they shouldn't have messed with the ABS either way.

 

We've had like 3 or 4 posts like this just in the last week. Seems to be a growing trend.

https://www.tacomaworld.com/threads/cant-shift-out-of-park.391220/#post-10770267

https://www.tacomaworld.com/threads...th-pics-for-second-gen-4-liter-trucks.289913/

https://www.tacomaworld.com/threads...th-override-park-lock-solenoid-failed.328365/