One of the most common causes of ABS failure on older cars is corrosion under the ABS reluctor rings. These are toothed rings that are push fitted to the CV joints and have a sensor that is mounted in a hole in the hub carrier. If you are competent at DIY you can sometimes remove the sensor and see if they have been rubbing on the reluctor rings. The repair is quite simple but does require removing the driveshafts, cutting off the old rings, pushing on new ones and replacing the sensors. It is almost always the nearside ones that fail first by the way. Some ABS sensors are built into the bearings (probably the rears) but the "external ones" are the ones that give the most problems.