^ You may never get a warning light, because it's losing the signal from one of the speed sensors only intermittently so it thinks a wheel is locked up. If only happening at low speed, it won't set the light because it doesn't know the difference.
It could be the hub going out (increasing distance to the ring the sensor uses), or wiring, or connector to the speed sensor, or the sensor itself. With 2WD vehicles that use an external sensor ring on the CV shaft, the ring could have excessive corrosion, but with 4WD it is inside the hub. Since it only happens at low speed it is probably not the wiring or connector, nor the sensor bad but could still be contaminated.
If you live in an area with winter salted roads, rust may result in breaking the sensor trying to remove it, but cleaning it is definitely something to try, yet if it is fouled from metal particles in the grease covering it or the sensor ring (when ring is internal on 4WD or AWD vehicles), this probably means your hub bearings are worn out, and it may get contaminated again.
You can figure out which sensor circuit to focus on, using a scan tool capable of live data including ABS. If you expressed to the mechanic that this is easily reproducible, like near every time you stop and s/he didn't know to do this, I'd find a different mechanic. The scan tool will show (which) wheel RPM signal dropping to zero during the ABS activation event, though if it pulls to one side with your hand off the steering wheel that is a good clue that it's a front sensor, on the side opposite the direction it pulls.
If you have (roughly) 100K+ mi on the hub, it's probably due for replacement. New hubs usually come with new sensors. Rear speed sensor is on the differential on a 2nd gen, not sure about an '04 Sport Trac.