Repairs depend on what problems exsist. You need to start with a diagnostic scan of the ABS system to determine what needs attention.
As far as recalls go, go to this site and check for your vehicles recalls.
http://www.safercar.gov
RepairPal Certified shops can diagnose and repair your 2003 Ford Escape. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
What you have is a broke tone ring on one of your axles. What happens is rust will build up under the ring and cause it to break. If its a all wheel drive you will have 4 to inspect.