High pitched single when put in gear

We have a 2011 lexus is250 that we haven'tbeen driving a lot (trading it in soon) I cleaned it off after a snow storm and when I when put it into gear (reverse or drive) there is a high pitched noise coming from inside the cabin like an alarm? It also has an abs sensor issue. I dont want to sink any more money into it but would like take it to fill the gas tank before the next storm. Can anyone tell be if its driveable?