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It seems that 99 percent of the time, it's the ABS speed sensor in the top of the differential. Mine was a victim. However, unplug each sensor and put a meter on it. If it's an open, it's bad. That's how I diagnosed mine.
not trying to hijack the thread just thought of somehting. On my truck if I get on the brakes moderlately hard the abs engages, especially at slower speeds is this normal or do I have an sensor going bad?
Look down/back about 12 topics for another on the same problem. It has a lot of good stuff to check. I have yet to check the error codes but I was going to do that this weekend.