ABS is such a great tool that I would spend what it takes to fix them and not disable them. ABS has saved my car and hide at least 2 times that I can count right now. And if I had had abs (or my volvo) I wouldn't have killed a horse with a camry.
I don't know how to disable the ABS other than pulling the fuse.

I'd pull the wheels and rotors and clean the sensors and tone wheels. Check their clearances, maybe somehow they're off? See if there's a way to hook up a meter (maybe a multimeter could do it) and see if you're getting a tone from the sensor wire. Even if there's not a tool to do it, you just need to be able to see induced voltage, so anything that would hook to it and will show you small voltages would help you test the sensors.


There is one on each front hub and a single feed from the rear wheels. It's in the driveline, but I can't remember where - might be in the differential.

Good Luck