My ABS light is on on my 2003 CL-S 6MT but in this case it's not just a sensor issue. The brake pedal acts like it is being pressed down and when I drive I hear screeching like the brakes are engaged.

 

Update: I had the car taken to a different dealership today (after waiting 3 hours for the tow truck called in from Acura TLC). The ABS sensor was malfunctioning and telling the car to apply the rear passenger side brake [full time].

Going just to the stop sign near my house and back, destroyed the tire down to the belt so the tech says he's going to try to convince the management to replace the tire under warranty since it was due to the sensor malfunction.

Finally, kudos to Acura on only giving loaners to those 25+. I'm 23, this is my 2nd Acura, and I always take it to them for service. It's going to be hard to buy an Acura again when I've shelled out $140 in rental fees when they have a fleet of loaners going unused.