Thanks Dhh3. Here's what old step dad did:
He put my Nitro up on his hoist and checked for loose wires at the RR wheel speed (ABS) sensor. All tight. Then he removed the bolt holding the sensor into the backing plate and .............. ooops! The sensor was destroyed. He thought that must have happened when he knocked the old broken wheel stud out of the hub causing it to hit the sensor (which is flimsy / fragile plastic). Note to others replacing broken wheel studs, put something behind the hub or remove the sensor FIRST before pounding out the broken stud).
He pulled the wheel and disc brake rotor / parking brake "hat" after removing the caliper mounting bolts and removing the caliper / pad assembly. He found 3 fairly large pieces of the sensor amid the parking brake mechanism and removed those. I drove over to NAPA Genuine Parts and purchased a new sensor for $19.99 and by the time I got back, dad had the rear wheel / brakes all back together, tire / wheel on and lugs torqued (110ft lbs). He fed the new sensor through the backing plate and put the bolt back in and torqued it. Hooked up the wires and let my Nitro down off the hoist.
(Oh, I'd had an oil change place do my last oil and filter and the filter leaked so he tightened up the filter with a tool he purchased (very difficult place to get to - atta boy Chrysler engineers!)
When I started the car, the lights were all on, but I backed out and headed to my hair appointment (gotta stay gorgeous!
After driving about 1/2 block, the lights all went out. The system reset itself after it "found" the new wheel speed (ABS) sensor and now all is well. My total cost including 2 lug nuts and wheel studs plus sensor .......... ZERO! Step dad, about $30. He's the best!!!