Maybe this is it...found it posted elsewhere on the web
The ABS self check occurs about 3-5 seconds after starting the engine IF the brake pedal is NOT depressed. If the brake pedal is depressed, the self check is then delayed until after the brake pedal is released. So if you are depressing the pedal (to put the vehicle in gear) prior to the "normal" self check after starting, the check does not occur until after releasing the brake and you have probably already started to move.
JASDMW...Start your vehicle, do not step on the brake pedal, and wait about 5 seconds you should hear the same noise you have been hearing...the ABS self check.
The ABS self check occurs about 3-5 seconds after starting the engine IF the brake pedal is NOT depressed. If the brake pedal is depressed, the self check is then delayed until after the brake pedal is released. So if you are depressing the pedal (to put the vehicle in gear) prior to the "normal" self check after starting, the check does not occur until after releasing the brake and you have probably already started to move.
JASDMW...Start your vehicle, do not step on the brake pedal, and wait about 5 seconds you should hear the same noise you have been hearing...the ABS self check.