Driving On a long trip the asr triangle, asr malfunction, and
Abs lights all came on. Turned it off and back on, still there, but does go off intermittently. Brake lights and cruise control both work. Any ideas? It also seems like the battery light might be slightly illuminated

 

light is a misnomer. It really is your charging circuit ie alternator light.
So check the charging output before it leaves you stranded since if that light is a glowin you soon won't be goin
The other culprit could be the brake switch, but with the alternator light glowing I would start at the alternator.
Check belt for slipping also
Any oreilys should check alternator charging while still on the car with a clip on unit.

 

Sure Is. liking the view from the side of the highway right now... Batteries dead and figuring out how to get the rest of the way home