I noticed a clicking noise from under the hood and the next day my ABS and brake lights came on and stayed on. The brakes seem to still be working but seem a bit jerky so have not been driving until I can take in on Monday. It is an 05 and I have about 67,000 miles. I did purchase the platinum extended warrenty but not sure what it covers.
Whether covered by your extended warranty or not, it's time for a visit to the dealer. You can't safely ignore that warning. Tom