The two (perhaps) most knowledgable people on this forum in the realm of TC and ABS are jr's3800 and myself. We dissect these systems regularly on our own cars and in the FSM. Since it'* a subsystem that cannot be diagnosed through the PCM, we pay special attention to it.
Don and I both discussed these two topics on the phone this morning. Closely inspect the brakes at all 4 corners. Pay particular attention to the brake lines feeding the front calipers, the condition of the pads, wear on the rotors, and also the rear drum mechanism.
You'll find your problem. But you won't find ABS as the culprit.