I've discussed this many times before here over the years. It's too bad that there's no FAQ for AWD/FWD cars but that'd require time and effort that apparently no one wants to do.
The '96 ABS SB is a job for a dealer tech (or anyone else) who has access to that specific SB as it shows the wires and exact location that need repairing. I can't just tell anyone which 4 wires and make it easy enough to repair for anyone here as they're under the fusebox which must be unscrewed and lifted upwards to gain access and there's many wires there. The old SBs called "'96 850 ABS diagnostics". Most of these were cured years ago but I still do one on rare occasion that wasn't problematic before.