[Familyman 90]

Yes, they have reluctor rings on the driveshafts, P/N 00012106.

A fault will only be logged if its a fault on the electrical side of the ABS. Any transitory readings will reset when the ignition goes off if it's a mechanical issue, and may even reset whike driving if the fault doesn't reappear for long enough. That being the case you jeed to plug in and go for a drive and read the fault while the light is actually illuminated.

Just a thought. Check your front tyres aren't underinflated. If they're low it can cause enough rotational discrepancies to cause problems. I very much doubt it is that as you'd need to be pretty ham fisted not to feel it while driving, but it's a simple, zero-cost check.