My ABS light has been coming and going for a few weeks now. I found that by turning ignition off and on for 1/2 second while in motion would always get the ABS circuit working again. Decided to find the cause of the fault. Shorted the Tc to E1, read the codes, got 31, reset DTCs, took it for a spin, got code 31 again. 31= front right wheel speed sensor. Measured resistance, got around 950 ohms on the LHS (good) and around 900 K ohms on the RHS (bad).
First I was happy because I have a spare sensor from my 2000, which has been sitting in the knuckle since I parked that vehicle for good 4 years ago. Then I read the thread here and got worried, and started planning to change over the complete knuckle/hub assembly, but thought I would check how stuck the sensor was. Started with the spare part, the 2000 (which has a much lower milage than the newer 2004 vehicle). The securing bolt came out very easy. Finger-loose after 1 turn. Twisted the sensor carefully, it moved. Twisted a bit back and forth and it came out easlily. Looks very good, and measures right, around 950 ohms. Tomorrow (I hope) will be the time to get the faulty sensor out. I'm planning to take the hub off, as I saw there wase quite a bit of dust falling into the hole when removing the spare sensor. That wouldn't be good for the wheel bearings. We'll see if I have to drill out the sensor. Tomorrow.