I would do and verify these things before assuming ABS hardware issues:
• Brake fluid reservoir full of fluid?
• No electrical system issues?:
• Doesn't sound like any fuse problems, but verify using ohmmeter rather than visual check (visual checks not reliable).
• Brake fluid reservoir full of fluid?
• No electrical system issues?:
a. Battery not weak or experiencing intermittent internal shorts (they can fail that way) - if not sure, have it tested (testing doesn't generally catch the intermittent shorting problem), and if battery has some age on it or has been abused (fully drained more than a couple of times and/or left fully drained over a period of time), it may be worth it to replace it to rule it out (have a known-good battery handy to temporarily try?). (Of course non-abused and younger batteries can fail "for no reason".)
b. Disassemble, clean (with baking soda/water paste if needed, plus wire brush), apply light-to-moderate coating of grease to, and re-assemble all mating surfaces of battery posts and cable clamps.
c. Disassemble the positive jump post (3 cable terminals clamped together) and negative jump post (2 cable terminals) - sand, clean, and grease all mating surfaces, and reassemble (tight, not just snug). (Use two wrenches - one on each nut - when disassembling/assembling pos. jump post - otherwise the stud will just rotate rather than nuts loosening/tightening. Disconnect neg. jump post before putting wrench to pos. jump post nuts so you don't get huge emission of sparks when/if wrench touches nearby grounded metal.)
d. Inspect (and clean up with baking soda/water paste if needed) green fusible link near battery in alternator branch of positive battery cable to determine that it is not eaten up (thinned down and near breaking), repair/replace if necessary, thoroughly dry if cleaned with baking soda paste, and apply grease and re-cover.
e. Verify alternator is properly charging: Measure voltage at battery or jump posts with engine at or above 2000 rpm with moderate load (cabin blower on high speed) - should read between 13.5 and 14.5 - towards the higher end of that range at lower ambient temperature, towards lower end of that range at higher ambient.
• Have the base brake system and ABS circuits bled - ABS to be bled using a DRB scan tool according to the procedure in the FSM page 5-68 (take it to a dealer if necessary).b. Disassemble, clean (with baking soda/water paste if needed, plus wire brush), apply light-to-moderate coating of grease to, and re-assemble all mating surfaces of battery posts and cable clamps.
c. Disassemble the positive jump post (3 cable terminals clamped together) and negative jump post (2 cable terminals) - sand, clean, and grease all mating surfaces, and reassemble (tight, not just snug). (Use two wrenches - one on each nut - when disassembling/assembling pos. jump post - otherwise the stud will just rotate rather than nuts loosening/tightening. Disconnect neg. jump post before putting wrench to pos. jump post nuts so you don't get huge emission of sparks when/if wrench touches nearby grounded metal.)
d. Inspect (and clean up with baking soda/water paste if needed) green fusible link near battery in alternator branch of positive battery cable to determine that it is not eaten up (thinned down and near breaking), repair/replace if necessary, thoroughly dry if cleaned with baking soda paste, and apply grease and re-cover.
e. Verify alternator is properly charging: Measure voltage at battery or jump posts with engine at or above 2000 rpm with moderate load (cabin blower on high speed) - should read between 13.5 and 14.5 - towards the higher end of that range at lower ambient temperature, towards lower end of that range at higher ambient.
• Doesn't sound like any fuse problems, but verify using ohmmeter rather than visual check (visual checks not reliable).