There is a troubleshooting procedure in the factory service manual, but it doesn't cover everything. My lights were the fault of water in a connector located behind the left front tire. It took the wire diagrams in the FSM, a multimeter and quite a bit of patience to locate the dead short. All 2nd gens came with rear ABS. Only the 4 wheel ABS was an option. You have a rear sensor, it is what drives your speedometer. If the speedo works it probably is something else.