abs malfunction 03 ram 3500 5.9
 

Truck has 500k miles. It has had both front hubs replaced(more than once) , new rotors and pads in front, rear brakes were redone this summer including calipers. Rear sensor on differential was replaced in February or March this year when transmission and rear bearing were redone.
Truck gets heavy use hauling livestock, but it's been kept up. Power steering pump was replaced this year also.
I'm getting abs and brake lights on and intermittent dinging. Truck acts like it doesn't want to stop unless you pump the brakes. If I have to jam the brakes I really can't stop. Makes an odd groan noise and hoses under hood jump noticeably when brake pedal is pushed. I can't find any leaks and fluid is full. My power steering is not that great and I'm wondering if there is a relationship between that and the malfunctioning brakes.
Any advice on diagnosing it to help me replace correct part would help immensely. The code reader is not pulling any codes. Of course the shop wants 125 to tell me whats wrong and then I lose the choice of buying my own parts if I have the work done there.
Thanks in advance for your time .
Parked in Chicago

abs malfunction please help
 

I did find a place to plug it in for less but no time today. Was kinda hoping someone might have had something similar on their truck .... any advice much appreciated , I really need to get back on the road !