2 or 4 wheel dirve? The sensors are fully enclosed within the hub on the 4 wheel drive. Those wheel speed sensors are plastic, and will almost ALWAYS break if you try to wiggle them out.
I chased the same problem as you. First thought it was brakes-bad front rotor. I did a full front and rear brake job,it needed it anyway, but no change. Then bought and replaced a speed sensor@$140 from Ford, no change.
As I'm back at the service counter, I ask a mechanic...the wheel bearings wear, allow the sensor to drift just slightly enough out of tolerence and wala!, the ABS kicks in, thats what he tells me. Don't waste your money on a speed sensor.
The wheel bearings only come as a complete hub assembly, mine even came with a new speed sensor too. I got mine from my local AC Delco store, my neighbor is the part counter chick and gets me her discount. I imagine they are available at many part discounters.
Anyway, the entire hub assembly fixed the issue. I have 75K miles on my ST.