That is a very common issue. Its a wheel hub sensor crapping out. The OEM unit has the ABS sensor located INSIDE the wheel bearing and when you turn the wheel at full lock it pulls on the wiring. Eventually they crack and will cause the ABS to malfunction so the car turns it off and you get the 3 lights coming on. When those lights come on its almost ALWAYS a faulty wheel speed sensor.
http://www.gaownersclub.com/forum/showthread.php?t=88421&highlight=wheel+bearing
Autozone cant read the BCM where the brake codes are thrown. It can read the engine codes but not others.