Occasionally, my ABS kicks on for no reason. Usually when coming to a stop, it will kick on just before the car stops. Odd...
My plan is: Pull off all 4 wheels, check the abs rings, make sure sensors are clean. Check all connections.
I tried to pull codes with a jumper wire using instructions I found, and couldn't get any codes, the light just flashed fast.
Any suggestions?

 

It sounds like you have a pretty good plan in place. The sensors seem to be messed up.
Getting the code read would be my only suggestion as it might narrow down the hunt.

 

Ditto on sensor issues.

Try cleaning them and the ABS signal rotor (tone ring). Check the gap between the ring and sensor and make sure one is not larger/smaller then the others.