1997 Taurus ABS Light ON

[cincin333]

Hello, I am new to the message board. I find this message board very helpful and informative. I would like to ask a question about my ABS light.

My 1997 Taurus GL 111,000 miles ABS Light started coming on 2 weeks ago. This prompted me to take the car and have a free Brake Inspection by a National chain. They said:I had minimal pad left on the front brakes and marginal pad left on the rear all rotors severly rusty. I changed all the rotors and Pads with the help of a friend and Autozone and my car stops fine. (It used to shake the steering wheel when I stopped.). I looked at the hub while the rotor was removed on the drivers rear and the toner ring was rusty and the teeth looked sort of worn down. The wires to the ABS sensors on the rear wheels looked fine. I saw no loose sensor wires. I also noticed that the passenger rear half axle is missing the axle cover, but there was no leaking grease.

Here is when the light comes on:

The first time I noticed the ABS light coming on I was parked in a parking lot with the car running and AC on for about 15 minutes and the light just turned on.

In the mornings I drive 10 minutes to work. - No Light ABS
Going home to lunch - ABS Light turns on when moving after about 5 minutes of driving. No brakes were even applied. (this makes me think computer problem)

On time I felt the ABS kick and the ABS light came on when I slowing down to turn into my driveway. (this sounds like a sensor problem)

The ABS light seems to come on faster if the outside temperature is warmer or if the engine warm.

Does this sound like a ABS Computer problem or a sensor problem?

I understand I have normal brakes when the ABS light is on.
I refuse to pay $60 for a diagnostic. I had Autozone read the codes and since it is not related to the check engine light there were no codes.
Is there a wire I can cut to get that ABS light to turn off?
Thanks!