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However, on the 2000 CD, it has different procedures for extracting codes from the ABS computer depending on whether your systemm is rear-only (RABS) or 4-wheel ABS. The RABS system DTCs can be extracted without the scan tool but the 4-wheel version requires the scan tool.
The 99 is likely similar.
From looking over the diagnostic procedures, it's likely you have an intermittent wheel or differential sensor that is causing the ABS system to activate at the wrong time. It might also be an intermittent wiring problem to one of the sensors.
Yes, without scan tools, the first thing is to check and clean the sensors and connections. Any that look bad, probably are. Next thing is to fully bleed the brakes (which you should be doing periodically anyway). I'm not sure if the basic scan tools will find ABS problems, but if they claim to, now might be the time to get one.
Obviously, the value of your time and cost of "guessed wrong" parts may soon exceed the cost of having it diagnosed by someone who's done this before.