98 XJ grinding when turning left

1998 XJ limited with 110,000. ABS light comes on at about 10 mph and stays on. has been doing this for a week now. Ever since then, when I turn left there is an awful grinding in the rear drivers side wheel area. Dont think its the drum brakes, I replaced them last year. Any ideas would be great. I would get the ABS scanned, but the stealership wants 100 bucks to scan it.

OK, so I finally got fed up with the grinding and took it to a shop to check the ABS. for 75 bucks, they told me i needed new brakes. I told them to shove it, took it home, got the rear drums off, and low and behold, my rear passenger side drum had a spring fall out of it. Apparently this was the culprit. I got all new hardware for the rear brakes, gapped the ABS sensors appropriately and that took care of the ABS light and the grinding noise. About 200 bucks total, but they wanted 400 at the shop.