I just wrote a DIY for the ABS sensor replacement but other member think I missed the ABS code retrieval part. I think this could be a seperate thread since ABS code doesn't always mean bad ABS sensors.
This is how to get the ABS code from the computer:
1. ABS light is on that means the computer has stored a trouble code for you to retrieve.
2. Go to the passenger side:
3. Lift up the carpet and you will find the ABS jumper socket:
4. Insert a jumper (metal paper clip will work) to read the code:
5. The ABS light will start to blind a code to you.
Thanks to ArizonaLegend for the following write up:
The ABS indicator light comes on and the ABS control unit memorizes the Diagnostic Trouble Code (DTC) under certain conditions.
If the ABS is OK, if the ABS indicator light goes off after the engine is restarted.
An ABS diagnostic trouble code (DTC) 4 or 5
indicates a problem in one of the wheel sensor
circuits (wiring, sensor, or pulser ring). If the S/M
troubleshooting fails to pinpoint the cause of a wheel
sensor DTC, try monitoring the alternating current
(AC) frequency of each wheel sensor.
Main Code 4
Sub Code 1 = RF Wheel Sensor
Sub Code 2 = LF
Sub Code 4 = RR
Sub Code 8 = LR
6. If the ABS code is blinking 4-1, 4-2, 4-4 or 4-8, you have a bad ABS sensor.
This is the DIY link for the ABS sensor replacement
p.s. Please refer to the repair manual for detail info.