Just did this yesterday.
Few days ago, I had similar symptoms: ABS and Brake lights came on when I started my truck this morning, brakes still worked fine, speedo inoperative under 15 mph.
Got the speed sensor from the dealer ($38), swapped it out, disconnected the batteries for a couple minutes to clear any codes (probably not necessary, but eh... ), started 'er up, and after illuminating for a little longer than normal, the lights went back out, and everything functions normally now.
Very easy fix. Only advice I can offer is that what I thought was one bolt holding it down is actually two. The top one (which holds the clamp to the brake line/wire) is a nut threaded onto the bolt which is threaded on each side. Use a crescent wrench to hold the lower one while you remove the upper nut, then a deep socket to remove the lower. A small screwdriver helps to pop out the sensor. Put the new one in as far as you can push it, ratchet down the bolt, replace the clamp and nut, reconnect the wiring harness.
Maybe a 15 minute job.
--Ty