2006 F-53. Doing brake overhaul found rear rotors did NOT have ABS rings in them. Both hubs have ABS sensors, this is a 4 channel system. I had no ABS light on. Stupid me went and replaced the rot...
Any shop with the proper diagnostic tool should be able to tell you what is wrong with the ABS system. After any work is done on an ABS system the vehicle usually has to be driven for a short distance before it will reset itself. Just disconnecting the battery will not do it. The ABS system needs to recognize the signals from each sensor.