When I have the abs light go on in my F250 I am ready for bearings which comes with the whole hub assembly. This also includes the new lead for the ABS Sensor. Very easy fix if the hub is not frozen on but a few swear words and a puller will get you through it.
First, make sure the check engine light is not on, the computer will disable the cruise on some cars if the engine light is on, the next thing you can check would be to check for any vacuum leaks at engine,
Other components will need testing with a meter and can get confusing, good day