I believe the '96 used a Kelsey-Hayes system. There is no accelerometer, so it's all done with the VSS input and wheel/axle speed sensors. Unless something has been changed the system should operate normally. Changing a transfer case, front wheel hub, brake rotor, PCM, or VSS can affect the EBCM and make the unit think there is a locking wheel. If none of the brakes lock with the ABS disabled we can probably safely presume the brake bias is correct and the brake hardware is working normally.
If there is a mismatch in wheel speed sensor inputs the EBCM should turn on the amber ABS warning lamp just driving down the road without braking. Again, a different rotor, transfer case, or VSS, or a replaced PCM can cause the speed signals to change. If there is no warning light during normal driving, the EBCM is detecting what it interprets as wheel slip. A marginally weak sensor can do this, but usually also sets the code while driving. A poor connection can also do this if the inertial forces of stopping affect a wire harness or connector somewhere.
It may be best to connect an ABS capable scanner and read the codes as a starting point.