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.