ABS Module
The basic part number describes, in basic terms, what the part is. Not what vehicle the part fits.
The letter designation suffix that follows the basic part number, typically two letters, as in your case, is what determines the vehicle application for the basic part, in combination with the prefix that preceded the basic part number.
So yes, the two letter designator at the end of the engineering numbers that you presented really do matter. They are critically important.
If you encounter a part where one label is overlaid on top of another, then assume that the top label governs. So in your case, AG is the preferred letter designation that you should seek over AF. Ford does supercede parts with revisions. The letter designation can indicate revisions. However, the letter designation cannot always be assumed to indicate a revision. So if you find an AJ, do not assume that because J follows G in the alphabet, that J must be a revision. It could be for a different type of ABS system.
In 1999, Ford had 2 channel, 3 channel, and 4 channel ABS systems, depending on the vehicle, price point, and laws governing ABS system requirements at various GVWR thresholds. My memory is starting to fade on the details, just like old brake systems, but the 1999 Super Duty in particular had an ABS system that only worked on the rear wheels, and another that worked on all four wheels, accept the rear wheels was one channel, while the front wheels were separated. Then at some point, some trucks (maybe F-150s) had an ABS sensor at all four wheels
The foregoing paragraph is simply to say that you are correct... that there are channel differences in Ford truck ABS systems... although don't hold me to what models or years and weight classes had which ABS brake systems. My 2000 has one ABS speed sensor in the rear axle, and two ABS speed sensors up front, one for each wheel.
All the numbers you cited were engineering numbers. Service part numbers will be similar, but the prefix will be different. Instead of F81A, or F81F, you may find F81Z, or XC3Z.
Those prefix changes, within the scope just listed, wouldn't bother me. They are normal. But suffix changes, such as the two letter designations at the end that you were asking about... I would be certain to get right. Those last two letters are important, and can make all the difference in getting the basic part that matches your application.
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Slide pins as Udsuth mentioned would be the first place I’d look.
I had a rear that would randomly hang and ended up replacing the caliper to fix. I think my issue was the piston on that one but can’t remember.
Something to possibly support this being a different issue:
Y2K stated the rear is a single channel. If the ABS was the cause of the hanging rear brake, then both rears should be doing it in my opinion.
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