I look at Rock Auto parts since I don't work on these every day. If one of the front ABS sensor's air gap has increased due to rust under it bolt flange, pushing the sensor up, will cause this exact issue every time. I have seen TSB's on this issue for years due to the signal drops bellows the ABS modules low signal threshold. Now, the target wheel or reluctor is enclosed inside the wheel brg/hub assembly. The sensor has one bolt (probably allen head) and sit on top of the 4 bolts flange that holds the hub onto the steering knuckle. You may remove the dust shield to remove it. But first, check it. With a DMM set on A/C voltage, carefully rotate the wheel(s) and watch the reading. It should remain steady but changes with wheel speed and does so smoothly. Many use a dual signal lab scope also. Check terminals in the connectors as the use an extension harness to get from the far wheel, back to the ABS module. The harness can be bad with high resistance. The wires inside the sensors leads, are twisted 9 times per foot and not to be repaired. Twisting help reduce high voltage induction signals. I would use dielectric grease in all connectors. With a factory supported scan-tool, like the TECH2, the signal and wheel speed will be shown helping you to which sensor is the problem. If this system is 3-channel, using one sensor in the differential, steel dust from worn bearings will collect on the end of the sensor because it use a magnet with a wrap of wire around it. We call these types, PMG's or permanent magnet generators. You can test resistance in ohms and compare each sensors readings is one way if you can't find the TECH2, because you neighbor didn't return it. Best of luck / Happy Holidays. Retired ASE Master Tech.