Being one who was ignorant of modern ABS systems, I suggested to a member, when they had a similar problem to clean the reluctor ring on the constant velocity joint or rear wheel bearing as 'crud' thank you Culzezn for that lovely word could interfere with the signal to the ABS sensor.
I now know that modern systems use a magnetic ring on the wheel bearing. HOWEVER, it seems that it is still possible for 'crud' to interfere with the signal, even with the magnetic ring.
I have done a good old Google and found an interesting pdf booklet re the subject of the magnetic ring and ABS. It goes a long way to explain the system.
https:/www.ntn_snr.com/sites/default/files/2017_04/sensors_brochure_en.pdf
If you want to try just (pdf wheel sensors_NTN SNR) on google it might just get there.
TRW make a magnetic ring tester. I believe about £20 Silly question has a wheel bearing been replaced recently? Hope you manage to sort the problem as these sorts of problem are a worry.