Hyundai Repair: 2005 Santa Fe FWD, speed sensors, wheel speed

Question
My abs and tcs lights come on after I have driven a few hours. They go out when I restart the car. Occasionally when I press on the brake pedal it is hard to press and makes a noise. I don't notice any particular time this happens.
I had a mechanic drive it and he said he didn't think there was anything wrong with it.
I had the brake pads changed.
I am the second owner so it is not under warranty.
I have read some horror stories about people spending lots of $ trying to get brakes fixed. I drive my grandson around so I want to be sure it is safe. What would you recommend as my next step?

Answer
Take this to another mechanic-- one that's qualified to diagnose ABS brake systems.  The symptoms you describe are consistent with an ABS issue.  It's normal for the lamps to go out on restart (and then stay out until the issue causing the lamp reoccurs).  Nonetheless, because the malfunction lamps were on, there will be a diagnostic trouble code stored in the ABS/ESC module.  I've seen front axle tone rings (the rings read by the wheel speed sensors) crack several times.  This will cause all the symptoms you've mentioned.