@Zed
since u also got y62, and many other members drive Nissan i thought of sharing my experience of how mine got fixed
took it to Nissan dealership, they plug-in their computers, and the expression was they synchronised the ABS. It’s was fixed by computer, no parts were changed.
what they also said if something of similar nature comes up after desert drive, give it few days and drive on auto and the system will automatically resync all sensors and what ever works with it.
I had been driving off road for many years and also had few patrols, but never seen ABS lights in past.
regards,