I should point out that the reason I replaced my ABS module was due to a mechanical failure. One of the valves started leaking and resulted in a hydraulic circuit imbalance. The ABS module went in a a fail safe mode where the valves were no longer operating (ABS light on) and no recovery...
For what it is worth:
I recently replaced my ABS module on my 2009 Ford Escape Hybrid using inexpensive tools from Forscan (linked below).
It's pretty straightforward to replace the entire module with a new one or junkyard one.
The forscan tool can transfer the configuration (as built data)...