Well there are scanners out on the market now that will read abs faults of SOME vehicles.
Innova is now offering some units that will read abs2 along with live data of you obd2 systems as well.
Oreilly has a unit made for/by Innova specifically for "parts stores loan a tool" programs that will read obd1, obd2, AND abs codes with the same tool. Just different connectors to use. This specific unit isn't available to the general public that I could find.
I have now the Innova 3160 that will read obd2 and abs for my truck.
I'm still having a mooing issue as well from time to time with no fault code registering.
Just Pull the ABS fuse out. I had the same problem. My ABS caused me to have no brakes and I ran a red light when it was making that mooing noise. If you pull the fuse, you will have regular brakes without ABS. Your ABS light will be on but your problem is solved.
When I was trying to diagnose the issues I just pulled the power connectors from the abs controller.
NO abs and no abs light lit up either. Just standard brakes that I have been used to driving with for the last 30+ years anyway.
Besides when you are in the 4X mode, abs is disabled anyway.
Thank you for the feed back on my "Mooing" problem...LoL.
Looks like I'll drive without my ABS for a long while.
As long as I know I have good brakes I'm good with that.