Is the ABS in my Ford ranger causing it to smell?

[Optical Goddess]

I replaced the engine 3 years ago and replaced the brakes (rotors, calipers,drums,ect) last year. In the last 2 months, the light has come on for a minute or so, twice. When the ignition is off, I can smell a burnt smell, kind of plasticky, it's not a 'bitter' smell. I can brake fine, even in a panic situation.

I am taking to a mechanic but am curious as to what this could be.

Part of it is questioning if I should just get a different vehicle or fix it....