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2006 E250 4.6l with ABS issue. First off I have checked all sensors, tone rings, everything. This thing is kicking my butt. At low speed braking the pump motor will kick in (10-20 mph). Also while driving at around 20 mph you can hear the pump motor come on. Now while driving all sensors read about the same as well as when braking. I do notice on scanner that when the pump motor comes on the rear inlet valve switches on. I've checked ohms and AC voltage and all readings look good. I did replace the front left sensor due to chaffed wire...was rubbing on wheel. It did not help. There are no codes, but I can make light come on by disconnecting a sensor. Any help would be appreciated.
Looks like you are already on the right track by checking live data from the wheel speed sensors. Sometimes it's not easy to see, are you able to record and graph the data? I troubleshot my old Lincoln doing the same by recording data, it would intermittently spike to 0 which caused my problem.
Drove van again this morning and noticed at 13 mph the pump starts running and shuts off around 23 mph. Pump just runs. All sensors reading same speed.