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It's normal for that to happen if the car has been sitting overnight or hasn't been started for a long period of time during the day. It stays on until the pump builds pressure in the accumulator. The yellow ABS light will be on anytime the red warning light is on due to low pressure in the system.

Welcome to the forum!! How hard replacing the struts will be depends on what tools you have available and your mechanical skill level. It also depends on the amount of rust you encounter. Trying to take the nut off the top of the rear strut rod can be problematic if the threads on the rod are rusty. There isn't much room up there to hold the rod and get the nut off. The How-to guides are pretty straight forward in explaining what needs to be done but they assume you are familiar with using basic mechanics tools. If you have questions people here are willing to help.