My ABS light had been on down my list of things to do, but I finally got it sorted out. The code was for Right rear wheel sensor and after research I suspected it could have moved away from the tone ring. I checked connector and checked resistance of the sensor and all seemed good. I was able to slide a tool into same hole that the wire goes through and with a flash light, mirror, a lot of patience and awkward positions I was able to push on the back of the sensor. I wasn't sure that the sensor actually moved any, but as soon as I moved the bus a little bit the light went out and hasn't come back on after driving a few miles. Thankfully I didn't have to remove the wheels and brake drum. If it comes back on for the same sensor I'll probably have to replace the clip that holds it in place and clean the tone ring up. It did look pretty nasty in there.
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