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A ScanGauge won't pull those codes.
More times than not it's the Vehicle Speed Sensor (VSS) on top of the rear differential. Pull it out and see if it's got a lot of metal shavings/fuzz on it (from a Limited Slip rear end , if you have it). If it does, clean it up, reinstall, and see if it clears. May have to drive it a little bit to get the code to clear.
If that doesn't fix it, you can try replacing the sensor. Part no's Ford#6L3Z9E731A or Motorcraft DY1073. Should be about $50.
Check the wiring to/from the sensor. The ABS is very picky about the correct voltage. Any insulation missing or if, by chance, a wire is broke, get a new pigtail for the sensor.