First, I would like to thank everyone for their replies.
Second, I have found the problem.
As I described before the lights will come one randomly and seemed to be more related with temperature. Well in a way it was.
So I waited for the lights to come up, car warm, and then tried to manually get the ABS motor to run again by jumping the wires on relay K25. Now when the car is cold, I could hear the motor run, but this time, the car had run for 20 min, and the lights had come ON. Well, when I tried the ABS did not run this time. Once the car cooled down it started to run again. I checked the resitence at the ABS pump connector and everything was fine there.
My conclusion was that the ABS motor was acting up after it runs a few times. So I decided to pull apart the ABS motor and sure enough the brushes are almost gone.
It seems that since they were making very little contact, they would work fine when cold, but once the motor is turned a few times then they quit.
Now, I have a bad ABS pump. Since I don't want to spend $250 to rebuild it, I did some search online and found the perfect brush for the motor.
The brush that fits the motor should be 5mm by 5 mm and around 13 mm long. I found the right brush on a website called Carbonbrush
out of California. The part number L5-5H and it should be material "Copper M" on their website. For only $15 and some patience I will have my ABS motor rebuilt.
And here are a few pictures to show the actual problem.
I don't know if there is a DIY on the ABS motor, but I think since this motor is so problematic on the ML there should be one.
Thanks again, and hope this helps someone.