I have not heard of this condition associated with a relay. Check the sensors. This usually can be done without a lift. Sometimes without pulling the wheels.
While looking underneath by the calipers you should a wiring harness going to the sensor. It is as easy as pushing the sensor into the socket firmly. This usually solves the "light" condition.
Otherwise, you may have a bad sensor. Cha-Ching.
1990 RRC, 3.9L, AUTO "Willow Pond" (Sold)
1996 D1, 4.0L, AUTO "Lucas"
1999 RR, 4.0L, AUTO "Belle" (Sold)