On my '98, the left front sensor was causing this, and replacing it (off brands are much cheaper on amazon than anything Rock Auto has), worked fine for a few months, then it started happening again because that hub was slowly failing.
Note that new hubs usually come with the ABS speed sensor (if the front for a 4WD or AWD) so you might want to first try cleaning the sensor off, and checking the hub for any play but there may be none detected yet, mine seemed fine at the time. Point is, if there's a chance the hub is going out, you might just want to buy the hub w/sensor instead of wasting money on a sensor like I did then having to buy a hub anyway that includes one. My hub was original and at a little over 100K mi so it was due for replacement.
You can try removing the sensor and cleaning it off, but mine broke attempting to remove it from the hub. Mine is 4WD so it's in the hub rather than external with a ring on the back. The end of the video below shows the external type but the whole video is useful.
You can use forscan app with an ELM327 code reader dongle to see the sensor values, which sensor is dropping out as you replicate the problem coming to a stop. I've been writing about the front but could be either side, or the single rear sensor on the differential. Briefly it is :
0. Disable Sleep mode/screensaver in your laptop, if necessary.
1. Connect FORScan to vehicle, go to Dashboard (or Table, or Graphs) section
2. Change module to ABS
3. Double click on any gauge, the PID profile dialog will open. Select the PIDs you need and move them to the right side of dialog. Close the dialog with OK button
4. Press Start button
5. Make the trip. Please note that managing laptop while driving is not safe, so please ask somebody to assist, otherwise be very careful.
6. Click Save button to save the data you collected to FSL or CSV format.
If you're not going to get this fixed right away (need to use the vehicle), you can pull the fuse for the ABS module to stop ABS from activating at all. Depends on the situation if it's worse to not have ABS working at higher speeds (suppose a !@#$ deer runs out in front of you), versus having it misfire while you're coming to a stop behind someone at a stop light or sign.