But you still haven't said if you have working brake lights or not... could be a bad brake light switch. I still also believe it could be a poor connection to that rear abs sensor, possibly a bad connector.
Well anyway, I am away from my work computer till monday, which is my treasure trove of information, so I don't have much to go on until then. But you'll need to locate the RABS diagnostic connector. Get up under the driver side dash, and all the way to the side, kinda behind the park brake assembly you'll see a big bundle of wire come in through the fire wall. There will be a connector, probably taped to the bundle with a black/orange wire on one side and a red wire on the other side. With the truck on and the ABS light on (since this will ensure the code is in the memory of the computer) you will need to unplug this connector attach a jumper to black/orange side of the connector and ground it momentarily, for 1-2 seconds. This will get the ABS to flash out your trouble code. For example 6 flashes is a code 6, 1 flash pause 2 flashes is a code 12. Get that code, post it up here and I'll tell ya what Ford has to say about it.