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Ford Explorer Community - Maintenance - Modifications - Performance Upgrades - Problem Solving - Off-Road - Street
Explorer Forum Covers the Explorer ST, Explorer Sport, Explorer Sport Trac, Lincoln Aviator, Mercury Mountaineer, Mazda Navajo, Ford Ranger, Mazda Pickups, and the Ford Aerostar
Changing them is not really all that big of a deal. ABS does not effect the normal operation of the brakes. If you don't mind the light, you could just let it go. Just keep in mind that the vehicle will be more prone to slide in a panic stop without the system working.
It's likely speed sensors but the front ones may be super rusty. If you're lucky, it's the rear diff sensor which is pretty easy and usually not crusted in place. If your Explorer is pretty clean and rust free, it's likely an easy job for the fronts as well.