Sounds like there WAS a stuck selonoid and it cleared up. If the pressure pump runs too long the system will shut down and give you an ABS light. But if a valve was stuck, then you exercised it(by using the brakes hard), even though fluid was coming out the top of the reservoir, if it was temporary, it may not give you a failure light, since it cured itself.
The other thing to check is that the light is working when you first turn the key to "on" before you start the car, so you know that the bulb is good.
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