Would ABS brakes engage randomly with a bad yaw sensor?

My ABS engages during regular braking and the pump runs while driving. ABS module is rebuilt, no codes, no lights. My code reader gives some weird z-axis readings. I'm trying to figure out if these are related, I know I have damaged teeth on the tone rings, but want to rule out the yaw sensor before messing with those. Thanks.

1999 V70XC, 165K miles

 

Problem solved! The fix was simple, but not easy. ABS works like a charm now.

 

What was the fix?