The ABS system has two types of Anti lock brakes depending on the production date of your truck. It has one sensor in the differential, its simple to remove and clean off just in case it has picked up debris (this sensor fails a lot on Ford and Volvo installed in the same location), the sensor its self would need to be tested with the vehicle's wheels off the ground and the sensor's out put tested with an oscilloscope to see if it functionally OK. On the earlier production date vehicles the ABS computer is under the drivers seat .
The computer stores codes once it sees a problem with the ABS system but it can only store one code and only stores it if the ignition is left on after seeing the fault. You need to get a workshop manual specific to your car to get the test procedures. The diagnostic connector to extract the codes is at the front kick panel.