Your killing me here, You need to include the year and type of truck if you expect to receive help on future issues. Since you are debating the cost, I will assume it's not new or newer, because they would have warranty. So that means you have a Kelsey-Hayes 4-wheel anti-lock braking system like most others. If it's 94-96 then you have the vacuum operated booster, otherwise you will have an hydraulic brake booster, 97-on.
Check the obvious things, vacuum connections, and vacuum readings. Many times if the ABS warning light comes on and stays on, it's the RWAL system at fault. Make sure the brakes, calipers and wheel senders are in good condition. Check the electrical connections at the control module assembly, check the fuses, follow the wiring harness back to the speed sensor and check it's connection. The brake light switch is under the dash at the top of the pedal, it can be removed by twisting it 30 degrees and pulling out. A manual will tell you how to test it. You also have a combination valve at the master cylinder, which could give a trouble code and resulting warning light. The trouble codes can be down loaded to the warning light on the dash by grounding the #13 terminal on the RWAL Service Diagnostic Connector, which is located to the right of the 16-way data connector under the dash. There are 15 fault codes (1-15), that can occur, by grounding the RWAL terminal (#13), you will get a long flash and a series of short flashes, count the short flashes and then compare that number to the fault code chart found in most service manuals for the Dodge trucks. Not sure about your mechanical ability, you will have to find your own comfort zone, but their are a few checks most anyone can make to see what is up with their trucks braking system. Good Luck