It relates the to BPMV losing the left front WSS signal for at least 5 sec. at speeds over 8 mph with the brake pedal released.
Do not replace BPMV, it will not cause by faulty BPMV.
In short, chances are you need to replace the left front Wheel Speed Sensor (WSS) if the connection is good. The WSS should have resistance, if not WSS is faulty.
Don't fool yourself, if there is even a tad of play take a closer look. I checked mine out, thought it was good, and a month later my entire hub assembly broke in 2 and the ontly thing holding my tire on was the brake caliper since the hub separated my tire fom my spindle... scary stuff... ABS light was on on mine also (albeit for 1.5 years).