The sensors are measuring the difference between the wheels to determine if you one (or more wheels) have an issue (focus is on braking, but it's checking all the time). So, if for whatever reason (wear, tire pressure, size) there is sufficient difference, the module flags it. Therefore, if one tire has worn more than other (poor alignment, etc); then when you fast enough you can trigger the flag.
That said, if you have had issues with the spider gears, I would start with the rear sensor (the one on my daughter's '02 Explorer "wore out" <lost ability to sense> ) and was causing ABS issues. Our vehicles are getting over 20 years old and that's longer than Ford planned for some of the parts to last.
Cleaning all the debris out of the axle tubes is PIA. Remember, oil goes all the way to the wheel bearings...