I had no ABS light when one of my front rings gave up. Just pedal fart below 5mph and under heavy braking the car tried to pull the rear around. ABS still active.
Fixed that and then the NSR sensor went a week later, ABS light on among others like TC, service, handbrake...that disengaged the ABS.
Then not long after that the ABS pump gave up, with all the same symptoms as the knackered sensor. CPU fault under diagnostics.
My advice check the rings for obvious wear, if you can't see anything then just get the car on CLIP to pin point the issue, as other generic diagnostic tools don't always give the full picture.
If it's the front rings they are a bit of a pain to remove as you've got to undo the lower strut bolts, knock the drive shaft out the hub, and knock the ring of the drive shaft without pulling the gearbox end out to much. Rears are much easier as they're on the discs.
If it's a rear sensor then these are also a pain to remove as you need to remove the hub to get the old sensor out as they become welded in due to rust, can knock them out with a socket pretty easily in a vice though, it's not really possible on the car, also the Torx screws that hold the sensor rust as well and are very easy the round off. The fronts can be done on the car I think.
It could also be the ABS loom running underneath the car passenger side.
