Welcome to the forum... what year?
Assuming this is a D1, Panhard rod bushings or front hub bearings are loose.
ABS light could be a dirty or bad ABS Sensor.
Assuming this is a D2, Panhard rod bushings or front hub bearings, Ujoints in front drive shaft, ball joints.
ABS light could be a dirty or Bad ABS sensor, ABS modulator needs grounded, fluid is dirty...