I haven’t tried a restart yet. Will do that. Battery reset also needed?
It should just reset after a restart if the abs sent an out of range message. (Early stages)
As others have said a battery issue can throw the lights but as it happened while you were driving its more likely abs sensor / wheel bearing.
If it doesnt clear with a restart then try a battery reset and charge the battery of the car has been sat around unused for awhile.
Were you going round a corner when the lights came on ?
If your turning left the bearings on the opposite side load up and visa versa.
Slight wear in one of the bearings is enough to throw an out of range error on the abs sensor as it is embeded in the hub. Around £600 a corner on the GT.
It wont be enough play to fail an MOT just enough for the abs sensor to see the play and think the wheel is traveling at a different speed to the other wheels.
The error codes are not stored as such. Its a self check on start up so if your vehicle isnt moving and its early signs of the issue it will clear itself.
You might not see the error again for a few weeks but as the wear increases the frequency it throws the errors will also increase. Eventually it will be on all the time.