I had this same issue on my 03 ford explorer, v8, xlt.
My issue was the Wheel Speed Sensors. I wasn't trying to fix the problem when another repair fixed it for me.
I had a front wheel bearing going out and with the age of the SUV, I decided to replace both front wheel bearing hub assemblies and since they both came with new Wheel Speed Sensors on them, it fixed the problem.
Hope this helps.