Nope, but with an ohmmeter you can check your sensors. A good one will read 1200+ ohms and a bad one will read less than 120 ohms. Just disconnect the ABS sensor and hook up an ohmmeter across the two contacts. No need to pull the sensor out.
You may also just have a bad connection.
It's possible since you're about the right age (the MH not you for the speed sensor to go bad in the rear end. It's like a $25 part and takes 5 minutes to change, soooooo if you feel lucky and dont want to pay for a shop to fix it or pull the code, its worth a shot. I was lucky to be able to get a scanner that verified the problem.
Ken, Dawn, & Rebecca
Our Goldens, Penny & Tucker, waiting for us at Rainbow Bridge
Augie & Daisy - continuing as our camping companions