Stop in for a cup of coffee

So a technical question to all you that work on modern cars. @Tooljunkie @MOPARMITCH @toolmanmike and any of you others that are knowledgeable on modern diagnostics. My 2015 scat pack 6.4 Challenger is throwing a ABS service fault code. The car drives fine and brakes hard fine but the fault will not allow me to set the cruise control. And the code does not always appear, sometimes there sometimes not. I can literally shut off engine with it on and restart and it is gone? We are getting ready to drive it up to Cleveland for boys wedding and cruise control sure does help. Can I simply disconnect battery for a hard electronic reset? Or is that naive?
I was getting an ABS code on the Cadillac. It was the sensor by the brake pads - wire broke. It was limiting allowed driving speed.