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When towing my camper some months ago with my 1999 Expedition the dreaded ABS light illuminated on dry surface. My 1999 is a 4.6L 2WD. I found a useful thread on this site and the directions were very helpful.
I accessed the sensor by lowering the spare tire and this gave unobstructed access. I removed the bolt (3/8 or 5/8 socket, I believe) that held the sensor in place and pried the sensor out using a screwdriver.
Calls to NAPA, Autozone, and Advance were fruitless since they had no information on the part. I was forced to call the Ford Dealer and they knew exactly the part I needed (they called it the ABS sensor). $23 dollars later part in hand, I installed the new part, off went the light (hopefully to stay!).
Note that the part number changed from the original so the part numbers may not match from old to new.
Thanks to all here and keep posting your useful ideas.