Had an ABS light on my 2012 D40 last week after a wheel alignment, turned out to be an ECU fuel cut-off error code, so an error between the engine management system and the ABS. Prior to the alignment it had 2 steering angle sensor errors due to the poor alignment, the fuel cut-off error appeared after the wheels and steering wheel/angle sensor were correctly aligned.
It cleared after a shut down and restart.
Probably not the same as yours, but an indication that an ABS light and /or steering angle sensor code isn't always always directly related to a fault with the ABS, or a faulty sensor.
I hope you get is sorted without too much trouble.
edit: the person who did the wheel alignment noted the error on the invoice but didn't give the actual error code, so I can't quote it unfortunately, and I don't know the specific steering angle sensor codes either