Check the tone ring
I’m guessing that the ABS light is on and or the ABS is either inactive or behaves funny (pulsating peddle). Perhaps you have the sensors disconnected. If so, before you start changing sensors and other components check the tone rings on the half shafts, both right and left sides. The tone ring is what the ABS sensor is looking at. It looks like a gear on the yoke of the half shaft about 3/8” wide. It has evenly spaced teeth flat on the top around its circumference. The ABS sensor is made up of an iron core wound with copper magnet wire. Each time the tone ring passes the ABS sensor a square wave pulse is generated. The period and frequency of the pulse is directly proportional to the speed of the tone ring. The information generated is sent to the brake module to calculate slippage, speed and other critical information crucial to the ABS system. Calculations are made within that ABS computer pertainate to ABS braking. If tone ring is cracked or broken and I have see a lot that were, quite a few in fact, then the ABS will fail because the computer will receive ambiguous information from that sensor. It only takes a split or little fracture for a failure to signal. Often times you have to look very closely at the tone ring to see the fracture. I have replaced the whole half shaft to fix them rather than trying to sweat on a new tone ring.
Good Luck
