Short answer to what my fix was; clear the C116C-5A - “Front Brake Pad Wear Signal Circuit - Not Plausible” code.
I was struggling with this for a while. The front pad wear sensor wore down (inner pads sticking and wearing quicker, just like the rears I replaced about 6 months ago).
Replaced the pads, rotors, and wear sensor. Started the truck and had 7 ABS codes and truck went into a 43 MPH limp mode. After working the brakes to try to restore good brake pedal pressure, I drove around a bit and nothing.
Cleared the generic P25A2 code, no change. Then looked at the ABS specific codes and decided to clear the wear sensor code. All ABS codes then cleared. I then cleared the P25A2 code successfully and no more lights on the dash, solid braking again, and no more limp mode.