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You guessed it, my ABS light is on. I am betting on a wheel speed sensor since all of the wiring looks intact. I tried autozone but they can not diagnose the ABS light, just check engine lights.
So a couple questions...
The speedo still works, does this rule out the rear sensor?
Is it normal for the system to simply shut down in the case of a sensor failure?
I detected some rear lock-up the other night while braking for suicidal deer. I tested it today on gravel and it locks the fronts as well with no ABS pulsation.
I am looking for options other than replacing all of the sensors.
As long as the ABS light is on, the ABS system is disabled and everything works like it's a conventional braking system. This explains why your fronts locked up on the gravel and you didn't get any ABS pulsation.
As to the problem, it could be anything. I suggest forking over the $200 and buying the Actron ABS scanner over at Autozone. Sure it's $200, (less online, see link below) but you can easily spend that amount swapping out good sensors. The scanner will tell you both historic and current ABS codes. Naturally you can also use the scanner on most any other vehicles in your corner of the world. I have one and it's already been put to good use a dozen times. Actron CP9449 ABS BrakeScan OBD 2 OBD II Auto Scanner - eToolDirect
The $200 is out of the question right now. I may try the rear sensor since it is only $20. My concern with doing so is that the speedo reads from the same sensor. Can the speedo work and the ABS function not work?
Can the speedo work and the ABS function not work?
Yes, there is the Vehicle Speed Sensor (VSS) located at the top left of the rear drive shaft output. Then there is the rear ABS sensor mounted on top of the rear differential. The VSS controls the speedo and has nothing to do with the ABS.
The VSS is not on the differential it's on the tranny (2WD models) or on the transfer case (4WD models). You don't need to bother with the VSS since the speedo is working. Your only concern is the sensor on the top of the rear differential.
Of course I could be wrong, because that's me; I'll say anything just to sound like I'm right.
Your only concern is the sensor on the top of the rear differential.
You should have a wheel speed sensor on each front wheel. (IIRC, the tone ring is internal to the hub assembly, so hopefully it shouldn't have any iron filings stuck on the magnet.)
If yours are not frozeen in there, might pull them out and be sure they are clean and that the wiring harness connectors are in good shape.