2011 XC90 V8 Anti skid and brake service light on

[Pretribrapper]

Driving home from work my Antiskid service light and ABS light came on and my car had two warning messages. 1. Brake service 2. Anti skid service. Not sure where to begin. Please help.
Couple of symptoms but not sure if related.
1. Prior to this issue I have been having wobble in steering slightly when braking at higher speeds but last year just bought high end rotors so not sure if rotors or abs issue. I originally thought just bad rotors but now when these lights came on I have new symptoms.
2. When car starts, lights are off and as I drive slow I can feel and hear the pulsing in the brakes and feel through steering wheel and hearing low pitch grinding audibly.
As I drive for a couple minutes all the warning lights come on and the DTSC shuts off and while the lights are on the car seems to brake rather normally.

Any thoughts or direction? Thanks in advance

[Roger_850T]

I would read the codes and see what has been triggering the messages. Probably worth lifting it up, pulling off the wheels, and inspecting, to see if you can see anything notably incorrect - there may be a mechanical issues that doesn't explicitly set a code. Let us know what you find. Good luck!

Roger